80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 36 warnings · 215 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 0.47sWARNobjective_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. ×15 + 0.47sERRORobjective_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 + 0.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.10sINFOobjective_server_nodecaller: ×8 + 1.10sINFOobjective_server_nodetype: 0 ×8 + 1.10sINFOobjective_server_nodename: "" ×8 + 1.10sINFOobjective_server_nodeinstance_id: "" ×8 + 1.10sINFOobjective_server_node ×8 + 1.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 4.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 + 5.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666419.78885603 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3).[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877369 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877369 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 30 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810706 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810706 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323271 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323271 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970335 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970335 ms (missed cycles : 3).[0m ×2 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.24sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.77sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.77sINFOobjective_server_nodecaller: ×4 + 2.77sINFOobjective_server_nodetype: 0 ×4 + 2.77sINFOobjective_server_nodename: "" ×4 + 2.77sINFOobjective_server_nodeinstance_id: "" ×4 + 2.77sINFOobjective_server_node ×4 + 2.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789666429.74113750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281959 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281959 ms (missed cycles : 2).[0m ×2 + 3.52sWARNobjective_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 + 3.52sERRORobjective_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 + 3.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789666430.45133996 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336319 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336319 ms (missed cycles : 3).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789666431.05347586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOjoint_trajectory_controllerReceived new action goal + 4.51sINFOjoint_trajectory_controllerAccepted new action goal + 4.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.51sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191853 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191853 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535497 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535497 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 30 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 1.54sINFOjoint_trajectory_controllerGoal reached, success! + 1.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 1.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.14sINFOobjective_server_nodecaller: ×6 + 2.14sINFOobjective_server_nodetype: 0 ×6 + 2.14sINFOobjective_server_nodename: "" ×6 + 2.14sINFOobjective_server_nodeinstance_id: "" ×6 + 2.14sINFOobjective_server_node ×6 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.91sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.92sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.53sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.84sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.84sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 24 errors · 36 warnings · 225 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344756 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344756 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 2.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.34sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.34sINFOobjective_server_nodecaller: ×8 + 3.34sINFOobjective_server_nodetype: 0 ×8 + 3.34sINFOobjective_server_nodename: "" ×8 + 3.34sINFOobjective_server_nodeinstance_id: "" ×8 + 3.34sINFOobjective_server_node ×8 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 4.07sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 4.08sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 4.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 7.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 8.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 33 warnings · 276 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.66sINFOcontroller_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 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.18sINFOobjective_server_nodecaller: ×10 + 2.18sINFOobjective_server_nodetype: 0 ×10 + 2.18sINFOobjective_server_nodename: "" ×10 + 2.19sINFOobjective_server_nodeinstance_id: "" ×10 + 2.19sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_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 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 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 3.320906 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 7.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.48sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.52sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 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 5.303728 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.3s | 30 errors · 36 warnings · 275 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 0.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 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 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 0.83sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 1.30sWARNobjective_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 + 1.30sERRORobjective_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 + 1.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.97sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.50sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 5.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.90sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 + 6.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666419.78885603 seconds ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3).[0m ×2 + 7.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 141 warnings · 395 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.81sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.81sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.81sINFOobjective_server_nodecaller: ×12 + 0.81sINFOobjective_server_nodetype: 0 ×12 + 0.81sINFOobjective_server_nodename: "" ×12 + 0.81sINFOobjective_server_nodeinstance_id: "" ×12 + 0.81sINFOobjective_server_node ×12 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.85sINFOmove_groupClearing octomap...[0m ×4 + 0.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.85sINFOmove_groupOctomap cleared.[0m ×4 + 0.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886793 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886793 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759820 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.759820 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402169 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402169 ms (missed cycles : 3).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930572 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930572 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295766 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295766 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879385 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879385 ms (missed cycles : 2).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974689 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974689 ms (missed cycles : 2).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538582 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538582 ms (missed cycles : 3).[0m ×2 + 14.18sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 3.218ms + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903320 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903320 ms (missed cycles : 2).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797455 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797455 ms (missed cycles : 3).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714026 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714026 ms (missed cycles : 2).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893719 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893719 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563910 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563910 ms (missed cycles : 3).[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042440 ms (missed cycles : 2). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042440 ms (missed cycles : 2).[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923441 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923441 ms (missed cycles : 3).[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717508 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717508 ms (missed cycles : 2).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809718 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809718 ms (missed cycles : 3).[0m ×2 + 24.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537372 ms (missed cycles : 2). + 24.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537372 ms (missed cycles : 2).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371624 ms (missed cycles : 3). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371624 ms (missed cycles : 3).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758672 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758672 ms (missed cycles : 2).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313979 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313979 ms (missed cycles : 2).[0m ×2 + 28.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083273 ms (missed cycles : 2). + 28.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083273 ms (missed cycles : 2).[0m ×2 + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528239 ms (missed cycles : 3). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528239 ms (missed cycles : 3).[0m ×2 + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050093 ms (missed cycles : 2). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050093 ms (missed cycles : 2).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466454 ms (missed cycles : 2). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466454 ms (missed cycles : 2).[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446451 ms (missed cycles : 3). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446451 ms (missed cycles : 3).[0m ×2 + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254124 ms (missed cycles : 4). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254124 ms (missed cycles : 4).[0m ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300610 ms (missed cycles : 2). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300610 ms (missed cycles : 2).[0m ×2 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535592 ms (missed cycles : 3). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535592 ms (missed cycles : 3).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662796 ms (missed cycles : 4). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.662796 ms (missed cycles : 4).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274916 ms (missed cycles : 2). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274916 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164372 ms (missed cycles : 2). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164372 ms (missed cycles : 2).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435736 ms (missed cycles : 2). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435736 ms (missed cycles : 2).[0m ×2 + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085086 ms (missed cycles : 2). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085086 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651558 ms (missed cycles : 4). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651558 ms (missed cycles : 4).[0m ×2 + 42.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.741ms + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930003 ms (missed cycles : 2). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930003 ms (missed cycles : 2).[0m ×2 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2).[0m ×2 + 46.46sINFOjoint_trajectory_controllerGoal reached, success! + 46.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789666407.17325306 seconds ×3 + 46.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2). + 46.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2).[0m ×2 + 47.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.01sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789666407.74778533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2).[0m ×2 + 48.08sINFOobjective_server_nodeFound path in 0 iterations (2.243e-05 s). ×2 + 48.15sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2). + 48.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3).[0m ×2 + 50.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 50.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 102 errors · 33 warnings · 462 info |
+ 0.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.00sINFOmove_groupClearing octomap...[0m ×2 + 0.00sINFOmove_groupOctomap cleared.[0m ×2 + 0.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666443.29299569 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569531 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569531 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666443.86503148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666444.56515026 seconds ×3 + 4.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871283 ms (missed cycles : 2). + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318178 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871283 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318178 ms (missed cycles : 3).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788630 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788630 ms (missed cycles : 2).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587693 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587693 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689912 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689912 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830209 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830209 ms (missed cycles : 2).[0m ×2 + 10.93sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.96sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_video_auth_proxy-37process has died [pid 8991, 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 + 10.97sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.98sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.98sERRORweb_bridge_auth_proxy-36process has died [pid 8972, 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 + 10.98sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.99sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 11.00sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 11.01sINFOvideo_server-35process has finished cleanly [pid 8971] ×2 + 11.01sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 11.02sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566559 ms (missed cycles : 3). + 11.03sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 11.04sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 11.05sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 11.06sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 11.07sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 11.08sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 11.09sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 11.10sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 11.11sINFOcontroller_managerShutdown request received.... + 11.11sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.11sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.11sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.11sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 11.11sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.12sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.12sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.12sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.12sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.12sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.12sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.12sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.12sINFOcontroller_managerShutting down the controller manager. + 11.13sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.14sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.14sERRORmove_group-23process has died [pid 8907, 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_z2hqpamb --params-file /tmp/launch_params_76gm1p1r --params-file /tmp/launch_params_wyst6ipu --params-file /tmp/launch_params_995gj29q --params-file /tmp/launch_params__64yyklw --params-file /tmp/launch_params_o8rf8z8x']. ×2 + 11.15sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.16sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 11.16sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.17sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.18sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.19sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.19sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.19sINFOmap_serverDeactivating + 11.19sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.20sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.20sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.20sINFOcontroller_serverDeactivating + 11.20sINFOlocal_costmap.local_costmapDeactivating + 11.20sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 11.20sINFOvideo_server2026/09/17 17:34:11 INF shutting down gracefully ×2 + 11.20sINFOvideo_server2026/09/17 17:34:11 INF [WebRTC] closing ×2 + 11.20sINFOvideo_server2026/09/17 17:34:11 INF [RTSP] closing ×2 + 11.20sINFOvideo_server2026/09/17 17:34:11 INF waiting for running hooks ×2 + 11.20sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmap_serverCleaning up + 11.20sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.20sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.20sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566559 ms (missed cycles : 3).[0m ×2 + 11.20sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.20sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.20sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.20sERRORmove_groupStack trace (most recent call last) in thread 9560: ×2 + 11.20sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.20sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a8a5efa63, in __clone ×2 + 11.20sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a8a562aa3, in ×2 + 11.20sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a8a7f4db3, in ×2 + 11.20sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4a8af58b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.20sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4a8ab86620, in rclcpp::Rate::sleep() ×2 + 11.20sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4a8aac8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.20sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4a8aa8a087, in ×2 + 11.20sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a8a7c3390, in __cxa_throw ×2 + 11.20sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a8a7ada54, in std::terminate() ×2 + 11.20sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a8a7c30d9, in ×2 + 11.20sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4a8a7adff4, in ×2 + 11.20sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a8a4ee8fe, in abort ×2 + 11.20sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a8a50b27d, in raise ×2 + 11.20sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4a8a564b2c, in pthread_kill ×2 + 11.20sERRORmove_groupAborted (Signal sent by tkill() 8907 0) ×2 + 11.20sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.20sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.20sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.20sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.20sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.20sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.20sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.20sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.20sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.20sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.20sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.21sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.21sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.21sINFOodom_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 + 11.21sINFOodom_qos_relay.pymain() ×2 + 11.21sINFOodom_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 + 11.21sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.21sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.21sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.21sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.21sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.21sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.21sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.21sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.21sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.21sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.21sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.22sERRORamclThe bond connection to the lifecycle manager has been broken + 11.28sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.29sINFOcontroller_serverCleaning up + 11.29sINFOlocal_costmap.local_costmapCleaning up + 11.32sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.32sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.32sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.32sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.32sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.32sINFOvelocity_smootherDeactivating + 11.32sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.33sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.33sINFOsmoother_serverDeactivating + 11.33sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.34sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.34sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.34sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.34sINFOsmoother_serverCleaning up + 11.36sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.36sINFOplanner_serverDeactivating + 11.36sINFOglobal_costmap.global_costmapDeactivating + 11.44sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.44sINFOwaypoint_followerDeactivating + 11.44sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.55sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.55sINFObt_navigatorDeactivating + 11.55sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.66sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.66sINFObehavior_serverDeactivating + 11.66sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.78sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.78sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.78sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.78sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.78sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.78sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.78sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.78sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.78sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.78sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.78sINFOvelocity_smootherCleaning up + 11.78sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.78sINFOwaypoint_followerCleaning up + 11.81sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.81sINFObt_navigatorCleaning up + 11.99sINFObt_navigatorCompleted Cleaning up + 11.99sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.99sINFObehavior_serverCleaning up + 12.05sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8966] ×2 + 12.05sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.05sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.05sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.05sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.05sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.11sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8948] ×2 + 12.12sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8947] ×2 + 12.12sINFOui_teleop_bridge-32process has finished cleanly [pid 8962] ×2 + 12.13sINFOexecute_objective_bridge-31process has finished cleanly [pid 8961] ×2 + 12.16sINFOparameter_manager_node-24process has finished cleanly [pid 8908] ×2 + 12.17sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8894] ×2 + 12.18sINFOwaypoint_manager_node-25process has finished cleanly [pid 8946] ×2 + 12.18sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8799] ×2 + 12.18sINFOstatic_transform_publisher-8process has finished cleanly [pid 8798] ×2 + 12.20sINFOstatic_transform_publisher-7process has finished cleanly [pid 8797] ×2 + 12.20sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.20sINFOlidar_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 + 12.20sINFOlidar_flattener.pymain() ×2 + 12.20sINFOlidar_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 + 12.20sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.20sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.20sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.20sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.20sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.20sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.20sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.20sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.20sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.20sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.21sINFOcomponent_container_mt-30process has finished cleanly [pid 8960] ×2 + 12.22sINFOstatic_transform_publisher-4process has finished cleanly [pid 8794] ×2 + 12.22sINFOstatic_transform_publisher-3process has finished cleanly [pid 8793] ×2 + 12.24sERRORlidar_flattener.py-6process has died [pid 8796, 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_k_wef2fs']. ×2 + 12.25sINFOobjective_server_node[2026-09-17 17:34:12.324] [moveit_pro_license] [info] ×2 + 12.25sINFOobjective_server_node************************************************* ×4 + 12.25sINFOobjective_server_node* MoveIt Pro License ×2 + 12.25sINFOobjective_server_node* Application has successfully terminated ×2 + 12.26sERRORodom_qos_relay.py-5process has died [pid 8795, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.29sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.29sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.30sINFOplanner_serverCleaning up + 12.31sINFOobjective_server_node_main-28process has finished cleanly [pid 8949] ×2 + 12.31sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 12.32sINFOglobal_costmap.global_costmapCleaning up + 12.33sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.33sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.36sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.36sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.36sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.36sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.36sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.53sERRORcomponent_container_isolated-2process has died [pid 8792, 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_hltl1785 --params-file /tmp/launch_params_yppg2b42 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.69sERRORcomponent_container_isolated-1process has died [pid 8791, 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_hltl1785 --params-file /tmp/launch_params_5cgialbv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.23sINFOcomponent_container_mt-29process has finished cleanly [pid 8959] ×2 + 13.85sINFOros2_control_node-11process has finished cleanly [pid 8895] ×2 + 14.06sINFOweb_bridge-33process has finished cleanly [pid 8965] ×2 + 14.06sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 30 errors · 63 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: 1789666415.86277151 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_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: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 1.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 + 3.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666419.78885603 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3).[0m ×2 + 4.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877369 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877369 ms (missed cycles : 2).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848325 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848325 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207383 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207383 ms (missed cycles : 3).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843738 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843738 ms (missed cycles : 3).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368678 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368678 ms (missed cycles : 3).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810706 ms (missed cycles : 4). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810706 ms (missed cycles : 4).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323271 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323271 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970335 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970335 ms (missed cycles : 3).[0m ×2 + 13.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.88sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789666429.74113750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281959 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281959 ms (missed cycles : 2).[0m ×2 + 14.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789666430.45133996 seconds ×3 + 15.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.16sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336319 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336319 ms (missed cycles : 3).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789666431.05347586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sINFOjoint_trajectory_controllerReceived new action goal + 15.58sINFOjoint_trajectory_controllerAccepted new action goal + 15.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191853 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191853 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 45 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323271 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323271 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970335 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970335 ms (missed cycles : 3).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789666429.74113750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281959 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281959 ms (missed cycles : 2).[0m ×2 + 2.49sWARNobjective_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 + 2.49sERRORobjective_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 + 2.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789666430.45133996 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336319 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336319 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789666431.05347586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOjoint_trajectory_controllerReceived new action goal + 3.48sINFOjoint_trajectory_controllerAccepted new action goal + 3.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191853 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191853 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535497 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.535497 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 8.83sINFOjoint_trajectory_controllerGoal reached, success! + 8.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.89sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 9.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.43sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 9.48sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 10.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.78sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 12.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.08sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.12sINFOmove_groupClearing octomap...[0m ×2 + 12.12sINFOmove_groupOctomap cleared.[0m ×2 + 12.13sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.13sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 18 errors · 45 warnings · 267 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2).[0m ×2 + 2.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789666407.17325306 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.56sINFOobjective_server_nodecaller: ×8 + 2.56sINFOobjective_server_nodetype: 0 ×8 + 2.56sINFOobjective_server_nodename: "" ×8 + 2.56sINFOobjective_server_nodeinstance_id: "" ×8 + 2.56sINFOobjective_server_node ×8 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789666407.74778533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.243e-05 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.73sINFOjoint_trajectory_controllerReceived new action goal + 3.73sINFOjoint_trajectory_controllerAccepted new action goal + 3.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344756 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344756 ms (missed cycles : 3).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 7.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 8.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 8.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 8.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.61sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 9.35sWARNobjective_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. ×9 + 9.36sERRORobjective_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. ×9 + 9.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 9.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.98sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.02sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 11.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.8s | 12 errors · 36 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 0.43sINFOjoint_trajectory_controllerGoal reached, success! + 0.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.03sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.03sINFOobjective_server_nodecaller: ×8 + 1.03sINFOobjective_server_nodetype: 0 ×8 + 1.03sINFOobjective_server_nodename: "" ×8 + 1.03sINFOobjective_server_nodeinstance_id: "" ×8 + 1.03sINFOobjective_server_node ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sWARNobjective_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 + 1.81sERRORobjective_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 + 1.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666443.29299569 seconds ×3 + 7.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.47sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569531 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569531 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666443.86503148 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666444.56515026 seconds ×3 + 8.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871283 ms (missed cycles : 2). + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318178 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871283 ms (missed cycles : 2).[0m ×2 + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318178 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.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 + 0.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.81sINFOobjective_server_nodecaller: ×10 + 0.81sINFOobjective_server_nodetype: 0 ×10 + 0.81sINFOobjective_server_nodename: "" ×10 + 0.81sINFOobjective_server_nodeinstance_id: "" ×10 + 0.81sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.85sINFOmove_groupClearing octomap...[0m ×4 + 0.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.85sINFOmove_groupOctomap cleared.[0m ×4 + 0.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOobjective_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 + 2.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886793 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886793 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2).[0m ×2 + 2.01sINFOjoint_trajectory_controllerGoal reached, success! + 2.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789666407.17325306 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.56sINFOobjective_server_nodecaller: ×2 + 2.56sINFOobjective_server_nodetype: 0 ×2 + 2.56sINFOobjective_server_nodename: "" ×2 + 2.56sINFOobjective_server_nodeinstance_id: "" ×2 + 2.56sINFOobjective_server_node ×2 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789666407.74778533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.243e-05 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOjoint_trajectory_controllerReceived new action goal + 3.73sINFOjoint_trajectory_controllerAccepted new action goal + 3.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853764 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805882 ms (missed cycles : 2).[0m ×2 + 2.01sINFOjoint_trajectory_controllerGoal reached, success! + 2.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789666407.17325306 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049320 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.56sINFOobjective_server_nodecaller: ×2 + 2.56sINFOobjective_server_nodetype: 0 ×2 + 2.56sINFOobjective_server_nodename: "" ×2 + 2.56sINFOobjective_server_nodeinstance_id: "" ×2 + 2.56sINFOobjective_server_node ×2 + 2.60sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789666407.74778533 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.175ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957658 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.243e-05 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.73sINFOjoint_trajectory_controllerReceived new action goal + 3.73sINFOjoint_trajectory_controllerAccepted new action goal + 3.73sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865375 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3).[0m ×2 + 5.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 errors · 30 warnings · 197 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343935 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.673ms + 0.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344756 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344756 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 1.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 2.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.34sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.34sINFOobjective_server_nodecaller: ×6 + 3.34sINFOobjective_server_nodetype: 0 ×6 + 3.34sINFOobjective_server_nodename: "" ×6 + 3.34sINFOobjective_server_nodeinstance_id: "" ×6 + 3.34sINFOobjective_server_node ×6 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 4.07sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.08sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 4.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 5.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.03sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 errors · 30 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_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 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 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 3.320906 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 errors · 30 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_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 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 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 3.320906 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 errors · 30 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_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 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 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 3.320906 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 errors · 30 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_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 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 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 3.320906 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 errors · 30 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.923ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 0.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317326 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 1.65sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666413.22790003 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][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 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.18sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.19sINFOobjective_server_nodeinstance_id: "" ×8 + 2.19sINFOobjective_server_node ×8 + 2.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666413.80623484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826664 ms (missed cycles : 2).[0m ×2 + 2.45sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_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 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 6.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 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 3.320906 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 33 warnings · 215 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 0.47sWARNobjective_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. ×15 + 0.47sERRORobjective_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 + 0.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.10sINFOobjective_server_nodecaller: ×8 + 1.10sINFOobjective_server_nodetype: 0 ×8 + 1.10sINFOobjective_server_nodename: "" ×8 + 1.10sINFOobjective_server_nodeinstance_id: "" ×8 + 1.10sINFOobjective_server_node ×8 + 1.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 4.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 + 5.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666419.78885603 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3).[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 33 warnings · 215 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 0.47sWARNobjective_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. ×15 + 0.47sERRORobjective_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 + 0.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.10sINFOobjective_server_nodecaller: ×8 + 1.10sINFOobjective_server_nodetype: 0 ×8 + 1.10sINFOobjective_server_nodename: "" ×8 + 1.10sINFOobjective_server_nodeinstance_id: "" ×8 + 1.10sINFOobjective_server_node ×8 + 1.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 4.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 + 5.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666419.78885603 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3).[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 33 warnings · 215 info |
+ 0.00sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 3.213ms + 0.47sWARNobjective_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. ×15 + 0.47sERRORobjective_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 + 0.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666414.50645566 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431970 ms (missed cycles : 3).[0m ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.10sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.10sINFOobjective_server_nodecaller: ×8 + 1.10sINFOobjective_server_nodetype: 0 ×8 + 1.10sINFOobjective_server_nodename: "" ×8 + 1.10sINFOobjective_server_nodeinstance_id: "" ×8 + 1.10sINFOobjective_server_node ×8 + 1.14sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666415.17260861 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666415.86277151 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047688 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666416.46018362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666417.14034486 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758317 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666417.74306774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320906 ms (missed cycles : 2).[0m ×2 + 4.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666418.49321985 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666419.09868956 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303728 ms (missed cycles : 4).[0m ×2 + 5.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666419.78885603 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488973 ms (missed cycles : 3).[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058676 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396751 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 2.58sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.18sINFOobjective_server_nodecaller: ×6 + 3.18sINFOobjective_server_nodetype: 0 ×6 + 3.18sINFOobjective_server_nodename: "" ×6 + 3.18sINFOobjective_server_nodeinstance_id: "" ×6 + 3.18sINFOobjective_server_node ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.96sERRORobjective_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 + 3.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.87sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.87sINFOmove_groupClearing octomap...[0m ×2 + 5.87sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263049 ms (missed cycles : 2).[0m ×2 + 0.43sINFOjoint_trajectory_controllerGoal reached, success! + 0.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666436.84360504 seconds ×3 + 0.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 1.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.03sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.03sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.03sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.03sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.03sINFOobjective_server_nodecaller: ×6 + 1.03sINFOobjective_server_nodetype: 0 ×6 + 1.03sINFOobjective_server_nodename: "" ×6 + 1.03sINFOobjective_server_nodeinstance_id: "" ×6 + 1.03sINFOobjective_server_node ×6 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359361 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666437.43371773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.80sWARNobjective_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 + 1.81sERRORobjective_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 + 1.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666438.16386914 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492742 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.38sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666438.78178144 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666439.47195864 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837474 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666440.07283592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.72sINFOmove_groupClearing octomap...[0m ×2 + 3.72sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499358 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606202 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204606 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.9s | 76 errors · 512 warnings · 2530 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-17-30-24-654794-f74208bf23aa-7624 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.07sINFOros2_control_node-11process started with pid [7779] + 5.07sINFOmove_group-23process started with pid [7793] + 5.07sINFOparameter_manager_node-24process started with pid [7794] + 5.07sINFOwaypoint_manager_node-25process started with pid [7833] + 5.07sINFOmove_joint_resampler_node-26process started with pid [7834] + 5.08sINFOmove_end_effector_resampler_node-27process started with pid [7835] + 5.08sINFOobjective_server_node_main-28process started with pid [7836] + 5.08sINFOcomponent_container_mt-29process started with pid [7838] + 5.08sINFOcomponent_container_mt-30process started with pid [7839] + 5.08sINFOexecute_objective_bridge-31process started with pid [7840] + 5.08sINFOui_teleop_bridge-32process started with pid [7843] + 5.08sINFOweb_bridge-33process started with pid [7859] + 5.08sINFOtf2_web_republisher_node-34process started with pid [7860] + 5.08sINFOvideo_server-35process started with pid [7861] + 5.08sINFOweb_bridge_auth_proxy-36process started with pid [7870] + 5.08sINFOweb_video_auth_proxy-37process started with pid [7873] + 5.08sINFOcomponent_container_isolated-1process started with pid [7674] + 5.08sINFOcomponent_container_isolated-2process started with pid [7675] + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.10sINFOstatic_transform_publisher-3process started with pid [7676] + 5.10sINFOstatic_transform_publisher-4process started with pid [7677] + 5.10sINFOodom_qos_relay.py-5process started with pid [7678] + 5.10sINFOlidar_flattener.py-6process started with pid [7679] + 5.10sINFOstatic_transform_publisher-7process started with pid [7680] + 5.10sINFOstatic_transform_publisher-8process started with pid [7681] + 5.10sINFOscan_to_scan_filter_chain-9process started with pid [7682] + 5.10sINFOscan_to_scan_filter_chain-10process started with pid [7778] + 5.10sINFOros2-12process started with pid [7780] + 5.10sINFOros2-13process started with pid [7781] + 5.10sINFOros2-14process started with pid [7782] + 5.10sINFOros2-15process started with pid [7783] + 5.10sINFOros2-16process started with pid [7784] + 5.10sINFOros2-17process started with pid [7785] + 5.10sINFOros2-18process started with pid [7786] + 5.10sINFOros2-19process started with pid [7787] + 5.10sINFOros2-20process started with pid [7788] + 5.10sINFOros2-21process started with pid [7789] + 5.10sINFOros2-22process started with pid [7790] + 5.17sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.17sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.17sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.17sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.17sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.17sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.17sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.17sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.17sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.17sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.17sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.17sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.17sWARNros2_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 + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.323467 ms (missed cycles : 10).[0m + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.25sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.37sINFOvideo_server2026/09/17 17:30:31 INF MediaMTX v1.20.1, linux, amd64 + 5.37sINFOvideo_server2026/09/17 17:30:31 INF configuration loaded from /tmp/moveit-webrtc-_n7hr90t/mediamtx.yml + 5.40sINFOvideo_server2026/09/17 17:30:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.40sINFOvideo_server2026/09/17 17:30:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.42sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.42sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.42sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.50sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.51sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.57sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.78sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 5.88sINFOmove_groupLoaded robot model in 0.380666 seconds[0m + 5.88sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.88sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.09sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983084 ms (missed cycles : 3).[0m + 6.54sINFOwaypoint_manager_nodeLoaded robot model in 0.277446 seconds[0m + 6.54sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.54sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.59sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.60sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.60sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.60sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.60sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sINFOmove_group[2026-09-17 17:30:33.128] [moveit_pro_license] [info] + 6.88sINFOmove_group************************************************* ×6 + 6.88sINFOmove_group* MoveIt Pro License ×3 + 6.88sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.94sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.94sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.97sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 6.97sINFOros2_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 + 7.26sINFOwaypoint_manager_node[2026-09-17 17:30:33.509] [moveit_pro_license] [info] + 7.26sINFOwaypoint_manager_node************************************************* ×6 + 7.26sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.26sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.33sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.33sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.33sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.33sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.33sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.34sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.34sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.34sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.34sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.34sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.34sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.58sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.59sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.59sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.71sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.71sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.71sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.71sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 7.71sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.71sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.71sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.71sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.71sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.71sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.71sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.71sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.71sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.71sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.71sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.71sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.71sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.71sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.71sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.71sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.71sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.71sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.71sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.71sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.85sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 7.85sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 7.96sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 7.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 7.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.02sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 8.02sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 8.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.03sINFOros2_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 + 8.03sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.03sWARNros2_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 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.07sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.07sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.07sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.07sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.08sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 8.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.18sWARNcomponent_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 + 8.22sINFOobjective_server_node[2026-09-17 17:30:34.464] [moveit_pro_license] [info] + 8.22sINFOobjective_server_node************************************************* ×8 + 8.22sINFOobjective_server_node* MoveIt Pro License ×4 + 8.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.29sINFOobjective_server_nodeLoaded robot model in 0.0236453 seconds[0m + 8.29sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.29sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390747 ms (missed cycles : 2).[0m + 8.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.36sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 8.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.41sINFOros2_control_node[2026-09-17 17:30:34.660] [info] Controller state will be published at 20 Hz. + 8.42sINFOros2_control_node[2026-09-17 17:30:34.662] [info] JointVelocityController 'on_configure' succeeded. + 8.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.60sINFOcomponent_container_mtLoaded robot model in 0.429103 seconds[0m + 8.61sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.61sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 8.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 8.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.78sINFOros2-21process has finished cleanly [pid 7789] + 8.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 8.79sINFOros2_control_nodeconfigure successful[0m ×9 + 8.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 8.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.80sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.80sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 8.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.82sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.95sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.96sWARNcomponent_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 + 8.97sWARNcomponent_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 + 8.97sWARNcomponent_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 + 8.97sWARNcomponent_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 + 8.97sWARNcomponent_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 + 8.97sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 9.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 9.12sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 9.13sINFOros2-12process has finished cleanly [pid 7780] + 9.15sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.16sINFOcomponent_container_mt[2026-09-17 17:30:35.404] [moveit_pro_license] [info] + 9.16sINFOcomponent_container_mt************************************************* ×6 + 9.16sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.16sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.16sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.17sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 9.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.21sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.28sWARNobjective_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 + 9.30sINFOmove_group ×12 + 9.30sINFOmove_group******************************************************** ×6 + 9.30sINFOmove_group* MoveGroup using: ×3 + 9.30sINFOmove_group* - apply_planning_scene_service ×3 + 9.30sINFOmove_group* - clear_octomap_service ×3 + 9.30sINFOmove_group* - get_group_urdf ×3 + 9.30sINFOmove_group* - load_geometry_from_file ×3 + 9.30sINFOmove_group* - get_planning_scene_service ×3 + 9.30sINFOmove_group* - kinematics_service ×3 + 9.30sINFOmove_group* - save_geometry_to_file ×3 + 9.30sINFOmove_group* - GetPlanningGroups ×3 + 9.30sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.30sINFOmove_group[0m ×3 + 9.30sINFOmove_group[92mYou can start planning now![0m ×3 + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055317 ms (missed cycles : 2).[0m + 9.50sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.50sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.51sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 9.51sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 9.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.51sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 9.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.52sINFOros2-17process has finished cleanly [pid 7785] + 9.53sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 9.56sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 9.56sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 9.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 9.56sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 9.57sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 9.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 9.76sWARNros2_control_nodeCamera render tick took 0.90 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.80sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.80sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 9.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 9.90sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 9.91sINFOros2-16process has finished cleanly [pid 7784] + 9.96sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 9.96sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 9.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 9.98sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 10.28sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 10.28sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 10.29sINFOros2-15process has finished cleanly [pid 7783] + 10.29sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 10.31sWARNros2_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 + 10.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 10.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 10.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 10.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486816 ms (missed cycles : 4).[0m + 10.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 10.68sINFOros2-14process has finished cleanly [pid 7782] + 10.68sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 10.68sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 10.68sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 10.74sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 10.74sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 10.75sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 10.75sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 11.06sINFOros2-13process has finished cleanly [pid 7781] + 11.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 11.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 11.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 11.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 11.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 11.19sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 11.19sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 11.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 11.19sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 11.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 11.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388603 ms (missed cycles : 3).[0m + 11.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 11.51sINFOros2-18process has finished cleanly [pid 7786] + 11.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 11.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 11.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 11.96sINFOros2_control_node[2026-09-17 17:30:38.208] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.96sINFOros2_control_node[2026-09-17 17:30:38.210] [info] Controller state will be published at 10 Hz. + 11.96sINFOros2_control_node[2026-09-17 17:30:38.211] [info] VelocityForceController 'on_configure' succeeded. + 12.30sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.30sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.30sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 12.30sINFOros2-19process has finished cleanly [pid 7787] + 12.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.35sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433344 ms (missed cycles : 2).[0m + 12.69sINFOros2_control_node[2026-09-17 17:30:38.933] [info] Controller state will be published at 20 Hz. + 12.69sINFOros2_control_node[2026-09-17 17:30:38.934] [info] JointVelocityController 'on_configure' succeeded. + 13.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 13.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 13.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o0ackna5 --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_wqcs2i5x --params-file /tmp/launch_params_3fxl6gqh [0m + 13.03sINFOros2-22process has finished cleanly [pid 7790] + 13.05sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 13.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.43sINFOros2_control_node[2026-09-17 17:30:39.681] [warning] No force/torque sensor configured. The VFC will ignore force references. + 13.44sINFOros2_control_node[2026-09-17 17:30:39.682] [info] Controller state will be published at 10 Hz. + 13.44sINFOros2_control_node[2026-09-17 17:30:39.683] [info] VelocityForceController 'on_configure' succeeded. + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943690 ms (missed cycles : 2).[0m + 13.51sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.75sINFOros2-20process has finished cleanly [pid 7788] + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857599 ms (missed cycles : 2).[0m + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508424 ms (missed cycles : 3).[0m + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690421 ms (missed cycles : 2).[0m + 17.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423824 ms (missed cycles : 3).[0m + 18.60sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.60sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.60sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.60sINFOobjective_server_nodecaller: ×27 + 18.60sINFOobjective_server_nodetype: 0 ×27 + 18.60sINFOobjective_server_nodename: "" ×27 + 18.60sINFOobjective_server_nodeinstance_id: "" ×27 + 18.60sINFOobjective_server_node ×27 + 18.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666244.88420486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.64sINFOmove_groupClearing octomap...[0m ×7 + 18.64sINFOmove_groupOctomap cleared.[0m ×7 + 18.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 18.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666244.89438868 seconds + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518915 ms (missed cycles : 3).[0m + 19.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666245.48587203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666245.49599361 seconds + 19.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 19.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666246.07123637 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666246.22196388 seconds + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366436 ms (missed cycles : 2).[0m + 20.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666246.82051516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 20.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666246.88064027 seconds + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565947 ms (missed cycles : 2).[0m + 21.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666247.46288490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914691 ms (missed cycles : 2).[0m + 22.24sWARNros2_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 + 22.28sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.58sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.58sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463146 ms (missed cycles : 3).[0m + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.741027 ms (missed cycles : 5).[0m + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239428 ms (missed cycles : 2).[0m + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683753 ms (missed cycles : 2).[0m + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462049 ms (missed cycles : 3).[0m + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289926 ms (missed cycles : 2).[0m + 28.87sWARNros2_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 + 28.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990853 ms (missed cycles : 3).[0m + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373066 ms (missed cycles : 4).[0m + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936476 ms (missed cycles : 2).[0m + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954808 ms (missed cycles : 3).[0m + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879438 ms (missed cycles : 2).[0m + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117431 ms (missed cycles : 2).[0m + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563668 ms (missed cycles : 4).[0m + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388343 ms (missed cycles : 3).[0m + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402123 ms (missed cycles : 3).[0m + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788695 ms (missed cycles : 3).[0m + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143113 ms (missed cycles : 4).[0m + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322642 ms (missed cycles : 2).[0m + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591682 ms (missed cycles : 2).[0m + 43.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937332 ms (missed cycles : 2).[0m + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970103 ms (missed cycles : 2).[0m + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796417 ms (missed cycles : 2).[0m + 47.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457555 ms (missed cycles : 3).[0m + 48.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517923 ms (missed cycles : 3).[0m + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341947 ms (missed cycles : 3).[0m + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887699 ms (missed cycles : 2).[0m + 51.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240729 ms (missed cycles : 4).[0m + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153661 ms (missed cycles : 2).[0m + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443846 ms (missed cycles : 4).[0m + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401228 ms (missed cycles : 4).[0m + 55.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492102 ms (missed cycles : 3).[0m + 56.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045374 ms (missed cycles : 2).[0m + 57.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445171 ms (missed cycles : 3).[0m + 58.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894513 ms (missed cycles : 2).[0m + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824147 ms (missed cycles : 3).[0m + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384807 ms (missed cycles : 3).[0m + 62.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138587 ms (missed cycles : 3).[0m + 63.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959469 ms (missed cycles : 2).[0m + 64.19sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789666290.49212837 seconds + 64.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305969 ms (missed cycles : 4).[0m + 64.79sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 64.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789666291.07384586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.220463 ms (missed cycles : 3).[0m + 65.96sINFOobjective_server_nodeFound path in 0 iterations (3.3506e-05 s). + 66.03sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.15sWARNros2_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 + 66.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485723 ms (missed cycles : 3).[0m + 67.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934083 ms (missed cycles : 2).[0m + 68.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936701 ms (missed cycles : 2).[0m + 69.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006574 ms (missed cycles : 3).[0m + 70.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789666296.66396689 seconds + 70.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239816 ms (missed cycles : 2).[0m + 70.96sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789666297.24842215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064547 ms (missed cycles : 4).[0m + 71.73sWARNobjective_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 + 71.73sERRORobjective_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 + 71.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789666297.97873902 seconds + 72.37sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789666298.65642667 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375123 ms (missed cycles : 3).[0m + 73.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789666299.36657643 seconds + 73.68sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789666299.97411156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327973 ms (missed cycles : 2).[0m + 74.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789666300.68426871 seconds + 74.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171739 ms (missed cycles : 2).[0m + 75.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789666301.29020596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789666302.00037026 seconds + 75.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115486 ms (missed cycles : 3).[0m + 76.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.36sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789666302.61049271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789666303.38065004 seconds + 77.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569315 ms (missed cycles : 3).[0m + 78.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138680 ms (missed cycles : 2).[0m + 79.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669758 ms (missed cycles : 3).[0m + 80.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097160 ms (missed cycles : 2).[0m + 81.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657243 ms (missed cycles : 4).[0m + 83.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809124 ms (missed cycles : 2).[0m + 84.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491939 ms (missed cycles : 2).[0m + 85.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664160 ms (missed cycles : 2).[0m + 86.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640169 ms (missed cycles : 4).[0m + 87.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789666313.65264845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124621 ms (missed cycles : 2).[0m + 88.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789666314.42281199 seconds + 88.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360880 ms (missed cycles : 3).[0m + 88.74sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.78sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789666315.02420735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679091 ms (missed cycles : 2).[0m + 91.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591666 ms (missed cycles : 4).[0m + 92.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314639 ms (missed cycles : 2).[0m + 93.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538400 ms (missed cycles : 3).[0m + 94.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983917 ms (missed cycles : 2).[0m + 94.60sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789666320.84432697 seconds + 95.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789666321.43270445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223846 ms (missed cycles : 4).[0m + 95.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789666322.20285606 seconds + 96.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466818 ms (missed cycles : 3).[0m + 96.52sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.57sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789666322.81957316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789666323.54972243 seconds + 97.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670832 ms (missed cycles : 3).[0m + 97.87sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789666324.15348935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309881 ms (missed cycles : 3).[0m + 99.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322194 ms (missed cycles : 2).[0m +100.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090119 ms (missed cycles : 4).[0m +100.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789666326.92356586 seconds +101.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789666327.50332117 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888720 ms (missed cycles : 2).[0m +102.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789666328.34343815 seconds +102.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +102.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036259 ms (missed cycles : 3).[0m +103.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388553 ms (missed cycles : 4).[0m +104.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407125 ms (missed cycles : 2).[0m +105.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800403 ms (missed cycles : 3).[0m +106.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707567 ms (missed cycles : 4).[0m +107.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188839 ms (missed cycles : 2).[0m +107.97sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.97sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.97sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.97sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.98sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.99sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.00sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.00sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.00sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.00sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORweb_video_auth_proxy-37process has died [pid 7873, 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']. +108.01sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.02sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.02sERRORweb_bridge_auth_proxy-36process has died [pid 7870, 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']. +108.02sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.03sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.04sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.05sINFOvideo_server-35process has finished cleanly [pid 7861] +108.05sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.06sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.07sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.08sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.09sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.10sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.11sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.12sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.13sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.15sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.16sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.17sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.19sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.20sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.21sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.21sERRORmove_group-23process has died [pid 7793, 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_03g1bug9 --params-file /tmp/launch_params_pmrf94uv --params-file /tmp/launch_params_1saz0m8j --params-file /tmp/launch_params_xpcebqd0 --params-file /tmp/launch_params_9yvppnah --params-file /tmp/launch_params_lu0oet8x']. +108.22sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.23sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.24sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.25sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.26sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.26sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.26sINFOvideo_server2026/09/17 17:32:14 INF shutting down gracefully +108.26sINFOvideo_server2026/09/17 17:32:14 INF [WebRTC] closing +108.26sINFOvideo_server2026/09/17 17:32:14 INF [RTSP] closing +108.26sINFOvideo_server2026/09/17 17:32:14 INF waiting for running hooks +108.26sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.26sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOcomponent_container_mtStopping planning scene monitor[0m +108.26sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.26sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.26sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.26sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.26sERRORmove_groupStack trace (most recent call last) in thread 8445: +108.27sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.27sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f326c17ba63, in __clone +108.27sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f326c0eeaa3, in +108.27sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f326c380db3, in +108.27sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f326cae4b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.27sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f326c712620, in rclcpp::Rate::sleep() +108.27sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f326c654d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.27sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f326c616087, in +108.27sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f326c34f390, in __cxa_throw +108.27sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f326c339a54, in std::terminate() +108.27sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f326c34f0d9, in +108.27sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f326c339ff4, in +108.27sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f326c07a8fe, in abort +108.27sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f326c09727d, in raise +108.27sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f326c0f0b2c, in pthread_kill +108.27sERRORmove_groupAborted (Signal sent by tkill() 7793 0) +108.27sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.27sINFOros2_control_nodeShutdown request received....[0m +108.27sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.27sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.27sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.27sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.27sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.27sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.27sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.27sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.27sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.27sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.27sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.27sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.27sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.27sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.27sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.27sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.27sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.27sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.27sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.27sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.27sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.27sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.27sINFOros2_control_nodeShutting down the controller manager.[0m +108.27sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +108.27sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.27sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.27sERRORodom_qos_relay.pyTraceback (most recent call last): +108.27sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +108.27sINFOodom_qos_relay.pymain() +108.27sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +108.27sINFOodom_qos_relay.pyrclpy.spin(node) +108.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.27sINFOodom_qos_relay.pyexecutor.spin_once() +108.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.27sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.27sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.27sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.27sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.27sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.27sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.27sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.27sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.27sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.36sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.37sINFOros2_control_nodepublish_async_failures_ 4[0m +108.37sINFOros2_control_nodepublish_async_failures_ 1[0m +108.56sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×3 +109.09sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7860] +109.09sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.16sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7835] +109.17sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7834] +109.17sINFOexecute_objective_bridge-31process has finished cleanly [pid 7840] +109.18sINFOui_teleop_bridge-32process has finished cleanly [pid 7843] +109.21sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7778] +109.22sINFOparameter_manager_node-24process has finished cleanly [pid 7794] +109.23sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7682] +109.23sINFOwaypoint_manager_node-25process has finished cleanly [pid 7833] +109.24sINFOstatic_transform_publisher-8process has finished cleanly [pid 7681] +109.25sINFOstatic_transform_publisher-7process has finished cleanly [pid 7680] +109.25sINFOcomponent_container_mt-30process has finished cleanly [pid 7839] +109.25sERRORlidar_flattener.pyTraceback (most recent call last): +109.25sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.26sINFOlidar_flattener.pymain() +109.26sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.26sINFOlidar_flattener.pyrclpy.spin(node) +109.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.26sINFOlidar_flattener.pyexecutor.spin_once() +109.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.26sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.26sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.26sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.26sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.26sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.26sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.26sINFOlidar_flattener.pyraise ExternalShutdownException() +109.26sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.27sINFOstatic_transform_publisher-4process has finished cleanly [pid 7677] +109.28sINFOobjective_server_node[2026-09-17 17:32:15.526] [moveit_pro_license] [info] +109.28sINFOobjective_server_node* Application has successfully terminated +109.29sINFOstatic_transform_publisher-3process has finished cleanly [pid 7676] +109.30sINFOcomponent_container_mt-29process has finished cleanly [pid 7838] +109.30sERRORlidar_flattener.py-6process has died [pid 7679, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_k1rk6lrf']. +109.32sERRORodom_qos_relay.py-5process has died [pid 7678, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +109.34sINFOobjective_server_node_main-28process has finished cleanly [pid 7836] +109.34sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +109.47sERRORcomponent_container_isolated-1process has died [pid 7674, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_6ab4wwtx --params-file /tmp/launch_params__0gql4zf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.59sERRORcomponent_container_isolated-2process has died [pid 7675, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_6ab4wwtx --params-file /tmp/launch_params_8_mf4ph2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.73sINFOweb_bridge-33process has finished cleanly [pid 7859] +110.73sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +110.89sINFOros2_control_node-11process has finished cleanly [pid 7779] +116.42sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-17-32-21-052263-f74208bf23aa-8741 ×2 +121.14sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' +121.15sINFOstatic_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' +121.17sINFOstatic_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' +121.17sINFOstatic_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' +121.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +121.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +121.43sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +121.43sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.43sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.45sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +121.46sINFOcontroller_managerupdate rate is 600 Hz +121.46sINFOcontroller_managerOverruns handling is : enabled +121.46sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +121.46sWARNcontroller_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. +121.47sINFOros2_control_node-11process started with pid [8895] ×2 +121.47sINFOmove_group-23process started with pid [8907] ×2 +121.47sINFOparameter_manager_node-24process started with pid [8908] ×2 +121.47sINFOwaypoint_manager_node-25process started with pid [8946] ×2 +121.47sINFOmove_joint_resampler_node-26process started with pid [8947] ×2 +121.47sINFOmove_end_effector_resampler_node-27process started with pid [8948] ×2 +121.47sINFOobjective_server_node_main-28process started with pid [8949] ×2 +121.47sINFOcomponent_container_mt-29process started with pid [8959] ×2 +121.47sINFOcomponent_container_mt-30process started with pid [8960] ×2 +121.47sINFOexecute_objective_bridge-31process started with pid [8961] ×2 +121.47sINFOui_teleop_bridge-32process started with pid [8962] ×2 +121.47sINFOweb_bridge-33process started with pid [8965] ×2 +121.47sINFOtf2_web_republisher_node-34process started with pid [8966] ×2 +121.47sINFOvideo_server-35process started with pid [8971] ×2 +121.47sINFOweb_bridge_auth_proxy-36process started with pid [8972] ×2 +121.47sINFOweb_video_auth_proxy-37process started with pid [8991] ×2 +121.48sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +121.49sINFOcomponent_container_isolated-1process started with pid [8791] ×2 +121.49sINFOcomponent_container_isolated-2process started with pid [8792] ×2 +121.49sINFOstatic_transform_publisher-3process started with pid [8793] ×2 +121.49sINFOstatic_transform_publisher-4process started with pid [8794] ×2 +121.49sINFOodom_qos_relay.py-5process started with pid [8795] ×2 +121.49sINFOlidar_flattener.py-6process started with pid [8796] ×2 +121.49sINFOstatic_transform_publisher-7process started with pid [8797] ×2 +121.49sINFOstatic_transform_publisher-8process started with pid [8798] ×2 +121.49sINFOscan_to_scan_filter_chain-9process started with pid [8799] ×2 +121.49sINFOscan_to_scan_filter_chain-10process started with pid [8894] ×2 +121.49sINFOros2-12process started with pid [8896] ×2 +121.49sINFOros2-13process started with pid [8897] ×2 +121.49sINFOros2-14process started with pid [8898] ×2 +121.49sINFOros2-15process started with pid [8899] ×2 +121.49sINFOros2-16process started with pid [8900] ×2 +121.49sINFOros2-17process started with pid [8901] ×2 +121.49sINFOros2-18process started with pid [8902] ×2 +121.49sINFOros2-19process started with pid [8903] ×2 +121.49sINFOros2-20process started with pid [8904] ×2 +121.49sINFOros2-21process started with pid [8905] ×2 +121.49sINFOcontroller_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. +121.49sINFOros2-22process started with pid [8906] ×2 +121.51sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +121.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +121.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +121.59sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.59sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.60sINFOcontroller_serverCreating controller server +121.64sINFOmap_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. +121.64sINFOlocal_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. +121.64sINFOmap_serverCreating +121.64sINFOlocal_costmap.local_costmapCreating Costmap +121.65sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +121.66sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +121.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +121.66sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +121.67sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.67sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.71sINFOsmoother_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. +121.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.73sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.73sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.74sINFOrobot_state_publisherRobot initialized +121.75sINFOcontroller_managerReceived robot description from topic. +121.75sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +121.75sINFOlifecycle_manager_localizationCreating +121.76sINFOsmoother_serverCreating smoother server +121.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +121.77sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +121.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +121.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.80sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +121.80sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +121.80sINFOmap_serverConfiguring +121.81sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.81sINFOvideo_server2026/09/17 17:32:28 INF MediaMTX v1.20.1, linux, amd64 ×2 +121.81sINFOvideo_server2026/09/17 17:32:28 INF configuration loaded from /tmp/moveit-webrtc-p1nywkja/mediamtx.yml ×2 +121.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946709 ms (missed cycles : 2). +121.82sINFOvideo_server2026/09/17 17:32:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +121.82sINFOvideo_server2026/09/17 17:32:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +121.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946709 ms (missed cycles : 2).[0m ×2 +121.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.84sINFOplanner_serverCreating +121.89sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.89sINFOglobal_costmap.global_costmapCreating Costmap +121.91sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +121.91sINFOamclConfiguring +121.92sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +121.92sINFOmap_serverActivating +121.93sINFOmap_serverCreating bond (map_server) to lifecycle manager. +121.93sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +121.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +121.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.98sINFObehavior_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. +122.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +122.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.04sINFOlifecycle_manager_localizationServer map_server connected with bond. +122.04sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +122.04sINFOamclActivating +122.04sINFOamclSubscribed to initial_pose_topic: /initialpose +122.04sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +122.05sINFOamclSubscribed to map_topic: /map +122.05sINFOamclSubscribed to scan_topic: /scan_merged +122.05sINFOamclCreated reinitialize_global_localization service +122.05sINFOamclCreated request_nomotion_update service +122.05sINFOamclA new map was received +122.05sINFOamclInitializing particle filter instance +122.10sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +122.12sINFObt_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. +122.13sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +122.16sINFObt_navigatorCreating +122.17sWARNlaser_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. +122.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +122.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.22sINFOwaypoint_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. +122.22sINFOwaypoint_followerCreating +122.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +122.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.28sINFOvelocity_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. +122.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.31sWARNlaser_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. +122.33sINFOlifecycle_manager_navigationCreating +122.35sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.426476 seconds +122.35sINFOmove_groupLoaded robot model in 0.426476 seconds[0m ×2 +122.35sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +122.35sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +122.36sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.40sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +122.40sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +122.40sINFOcontroller_serverConfiguring controller interface +122.40sINFOcontroller_servergetting progress checker plugins.. +122.40sINFOcontroller_servergetting goal checker plugins.. +122.40sINFOcontroller_serverController frequency set to 20.0000Hz +122.40sINFOlocal_costmap.local_costmapConfiguring +122.43sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +122.46sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +122.53sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +122.53sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +122.54sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +122.55sINFOamclParticle filter initialization completed +122.55sINFOamclInitializing particles from estimated pose and covariance +122.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +122.61sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +122.61sINFOcontroller_serverController Server has progress_checker progress checkers available. +122.61sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +122.65sINFOlifecycle_manager_localizationServer amcl connected with bond. +122.65sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +122.65sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +122.66sINFOamclThe bond connection to the lifecycle manager is now fully formed +122.66sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +122.67sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +122.72sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +122.75sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +122.76sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +122.76sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +122.76sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +122.76sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +122.76sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +122.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +122.76sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +122.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +122.79sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +122.79sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +122.79sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +122.79sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +122.79sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +122.79sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +122.79sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +122.80sINFOcontroller_serverOptimizer reset ×2 +122.81sINFOcontroller_serverController Server has FollowPath controllers available. +122.83sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +122.83sINFOsmoother_serverConfiguring smoother server +122.84sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +122.85sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +122.88sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +122.88sINFOplanner_serverConfiguring +122.88sINFOglobal_costmap.global_costmapConfiguring +122.89sINFOwaypoint_manager_nodeLoaded robot model in 0.345382 seconds[0m ×2 +122.90sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +122.92sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +122.92sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +122.92sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +122.92sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +122.94sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +122.94sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +122.94sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +122.97sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +122.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +122.97sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +122.97sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +122.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sINFOplanner_serverPlanner Server has GridBased planners available. +122.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.00sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +123.00sINFObehavior_serverConfiguring +123.00sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +123.01sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +123.01sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +123.01sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +123.02sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +123.02sINFObehavior_serverConfiguring spin +123.03sINFObehavior_serverConfiguring backup +123.04sINFObehavior_serverConfiguring drive_on_heading +123.04sINFObehavior_serverConfiguring assisted_teleop +123.05sINFObehavior_serverConfiguring wait +123.06sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +123.06sINFObt_navigatorConfiguring +123.08sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +123.08sWARNbt_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 +123.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712197 ms (missed cycles : 2). +123.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712197 ms (missed cycles : 2).[0m ×2 +123.21sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +123.25sINFOmove_group[2026-09-17 17:32:29.495] [moveit_pro_license] [info] ×2 +123.25sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +123.25sINFOwaypoint_followerConfiguring +123.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.28sWARNwaypoint_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. +123.28sWARNwaypoint_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. +123.28sWARNwaypoint_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. +123.28sWARNwaypoint_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. +123.28sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +123.28sWARNwaypoint_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. +123.28sWARNwaypoint_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. +123.28sWARNwaypoint_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. +123.28sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +123.28sWARNwaypoint_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. +123.28sINFOvelocity_smootherConfiguring velocity smoother +123.28sWARNwaypoint_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. +123.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.29sWARNwaypoint_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. +123.30sWARNwaypoint_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. +123.30sWARNwaypoint_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. +123.30sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +123.30sINFOcontroller_serverActivating +123.30sINFOlocal_costmap.local_costmapActivating +123.30sINFOlocal_costmap.local_costmapChecking transform +123.30sINFOlocal_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. ×14 +123.48sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +123.48sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +123.56sINFOwaypoint_manager_node[2026-09-17 17:32:29.803] [moveit_pro_license] [info] ×2 +123.71sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +123.71sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +123.71sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +123.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +123.71sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +123.72sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +123.72sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +123.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +123.73sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +123.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +123.73sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +124.41sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +124.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. +124.42sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +124.42sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +124.49sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +124.49sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +124.49sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +124.49sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +124.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +124.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744743 ms (missed cycles : 2). +124.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744743 ms (missed cycles : 2).[0m ×2 +124.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +124.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +124.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +124.54sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +124.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +124.55sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +124.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +124.55sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +124.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +124.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +124.55sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +124.56sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +124.56sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +124.56sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +124.56sINFOplatform_velocity_controller_nav2configure successful +124.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +124.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.73sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +124.74sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +124.74sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +124.76sINFOstreaming_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) +124.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +124.77sINFOobjective_server_node[2026-09-17 17:32:31.016] [moveit_pro_license] [info] ×2 +124.85sINFOobjective_server_nodeLoaded robot model in 0.0280495 seconds[0m ×2 +124.89sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +124.89sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +124.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.93sINFOros2-17process has finished cleanly [pid 8901] ×2 +124.99sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.99sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.01sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +125.01sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +125.07sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +125.07sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +125.28sINFOcomponent_container_mtLoaded robot model in 0.362259 seconds[0m ×2 +125.33sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.34sWARNobjective_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. +125.34sWARNobjective_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. +125.34sWARNobjective_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. +125.34sWARNobjective_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. +125.34sWARNobjective_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. +125.51sINFOros2_control_node[2026-09-17 17:32:31.758] [info] Controller state will be published at 20 Hz. ×2 +125.51sINFOros2_control_node[2026-09-17 17:32:31.759] [info] JointVelocityController 'on_configure' succeeded. ×2 +125.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018875 ms (missed cycles : 4). +125.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.018875 ms (missed cycles : 4).[0m ×2 +125.66sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.66sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.67sWARNplanning_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. +125.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +125.85sINFOcontroller_managerLoading controller 'platform_velocity_controller' +125.85sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +125.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +125.85sINFOros2-22process has finished cleanly [pid 8906] ×2 +125.87sINFOcomponent_container_mt[2026-09-17 17:32:32.117] [moveit_pro_license] [info] ×2 +125.91sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +125.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +125.92sINFOplatform_velocity_controllerconfigure successful +125.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +125.92sINFOcontroller_managerSuccessfully switched controllers! ×20 +125.92sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +126.00sINFOmove_groupMoveGroup debug mode is ON +126.09sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.09sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.16sINFOmove_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
********************************************************
+126.22sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +126.22sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +126.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +126.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +126.25sINFOros2-15process has finished cleanly [pid 8899] ×2 +126.27sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +126.27sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +126.28sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +126.29sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +126.57sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +126.57sINFOcontroller_managerLoading controller 'vacuum_gripper' +126.58sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +126.58sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +126.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +126.61sINFOros2-13process has finished cleanly [pid 8897] ×2 +126.63sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +126.63sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +126.63sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +126.63sWARNros2_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 +126.64sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +126.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471698 ms (missed cycles : 3). +126.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471698 ms (missed cycles : 3).[0m ×2 +126.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +126.93sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +126.93sINFOcontroller_managerLoading controller 'velocity_force_controller' +126.96sINFOros2-16process has finished cleanly [pid 8900] ×2 +127.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +127.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +127.07sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +127.07sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +127.11sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789666351.776 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +127.37sINFOros2_control_node[2026-09-17 17:32:33.615] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +127.37sINFOros2_control_node[2026-09-17 17:32:33.617] [info] Controller state will be published at 10 Hz. ×2 +127.37sINFOros2_control_node[2026-09-17 17:32:33.619] [info] VelocityForceController 'on_configure' succeeded. ×2 +127.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741475 ms (missed cycles : 3). +127.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741475 ms (missed cycles : 3).[0m ×2 +127.70sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +127.70sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +127.70sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +127.70sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +127.71sINFOros2-19process has finished cleanly [pid 8903] ×2 +127.75sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +127.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +127.76sINFOforce_torque_sensor_broadcasterconfigure successful +127.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +127.76sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +128.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +128.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' +128.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +128.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +128.09sINFOros2-12process has finished cleanly [pid 8896] ×2 +128.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +128.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +128.46sINFOros2_control_node[2026-09-17 17:32:34.707] [info] Controller state will be published at 20 Hz. ×2 +128.46sINFOros2_control_node[2026-09-17 17:32:34.708] [info] JointVelocityController 'on_configure' succeeded. ×2 +128.78sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +128.78sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +128.78sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +128.78sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +128.80sINFOros2-21process has finished cleanly [pid 8905] ×2 +128.83sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +128.84sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +128.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858775 ms (missed cycles : 3). +128.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858775 ms (missed cycles : 3).[0m ×2 +129.17sINFOros2_control_node[2026-09-17 17:32:35.416] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.17sINFOros2_control_node[2026-09-17 17:32:35.418] [info] Controller state will be published at 10 Hz. ×2 +129.17sINFOros2_control_node[2026-09-17 17:32:35.419] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +129.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +129.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +129.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +129.51sINFOros2-20process has finished cleanly [pid 8904] ×2 +129.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +129.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +129.57sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +129.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +129.57sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +129.57sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +129.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +129.90sINFOros2-18process has finished cleanly [pid 8902] ×2 +129.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +129.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +129.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy +129.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fy8bmnkz --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_ad5yp28n --params-file /tmp/launch_params_hmeslbxy [0m ×2 +129.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +129.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +129.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +129.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849321 ms (missed cycles : 2). +129.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849321 ms (missed cycles : 2).[0m ×2 +129.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +129.98sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +130.07sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789666354.810 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.17sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +130.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +130.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.28sINFOros2-14process has finished cleanly [pid 8898] ×2 +130.30sINFOlocal_costmap.local_costmapstart +130.40sWARNcontroller_serverParameter controller_server.verbose not found +130.41sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +130.51sINFOlifecycle_manager_navigationServer controller_server connected with bond. +130.51sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +130.51sINFOsmoother_serverActivating +130.51sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +130.54sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 8.160ms +130.62sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +130.62sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +130.62sINFOplanner_serverActivating +130.62sINFOglobal_costmap.global_costmapActivating +130.62sINFOglobal_costmap.global_costmapChecking transform +130.62sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789666356.848613, but only time 1789666357.301975 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +131.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468781 ms (missed cycles : 3). +131.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468781 ms (missed cycles : 3).[0m ×2 +131.12sINFOglobal_costmap.global_costmapstart +131.74sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789666357.224 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +132.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879814 ms (missed cycles : 5). +132.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879814 ms (missed cycles : 5).[0m ×2 +132.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +132.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +132.27sINFOlifecycle_manager_navigationServer planner_server connected with bond. +132.27sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +132.27sINFObehavior_serverActivating +132.27sINFObehavior_serverActivating spin +132.27sINFObehavior_serverActivating backup +132.27sINFObehavior_serverActivating drive_on_heading +132.27sINFObehavior_serverActivating assisted_teleop +132.27sINFObehavior_serverActivating wait +132.27sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +132.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +132.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +132.38sINFObt_navigatorActivating +132.43sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +132.54sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +132.54sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +132.54sINFOwaypoint_followerActivating +132.54sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +132.64sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +132.64sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +132.64sINFOvelocity_smootherActivating +132.64sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +132.75sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +132.75sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +132.75sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +133.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). +133.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 +134.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). +134.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 +135.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +135.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +135.30sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +135.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 +135.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). +135.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 +135.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 +136.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). +136.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 +136.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 +137.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +137.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +137.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 +137.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). +137.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 +137.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +137.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +137.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +138.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). +138.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 1.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.15sINFOobjective_server_nodecaller: ×10 + 2.15sINFOobjective_server_nodetype: 0 ×10 + 2.15sINFOobjective_server_nodename: "" ×10 + 2.15sINFOobjective_server_nodeinstance_id: "" ×10 + 2.15sINFOobjective_server_node ×10 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.19sINFOmove_groupClearing octomap...[0m ×4 + 2.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×4 + 2.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879814 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879814 ms (missed cycles : 5).[0m ×2 + 0.06sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.06sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.16sINFObehavior_serverActivating + 0.16sINFObehavior_serverActivating spin + 0.16sINFObehavior_serverActivating backup + 0.16sINFObehavior_serverActivating drive_on_heading + 0.16sINFObehavior_serverActivating assisted_teleop + 0.16sINFObehavior_serverActivating wait + 0.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.27sINFObt_navigatorActivating + 0.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.43sINFOwaypoint_followerActivating + 0.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.53sINFOvelocity_smootherActivating + 0.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.19sINFOmove_groupClearing octomap...[0m ×4 + 3.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.19sINFOmove_groupOctomap cleared.[0m ×4 + 3.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.16sINFOjoint_trajectory_controllerReceived new action goal + 7.16sINFOjoint_trajectory_controllerAccepted new action goal + 7.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.16sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879814 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879814 ms (missed cycles : 5).[0m ×2 + 0.06sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.06sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.16sINFObehavior_serverActivating + 0.16sINFObehavior_serverActivating spin + 0.16sINFObehavior_serverActivating backup + 0.16sINFObehavior_serverActivating drive_on_heading + 0.16sINFObehavior_serverActivating assisted_teleop + 0.16sINFObehavior_serverActivating wait + 0.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.27sINFObt_navigatorActivating + 0.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.43sINFOwaypoint_followerActivating + 0.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.53sINFOvelocity_smootherActivating + 0.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.15sINFOobjective_server_nodecaller: ×10 + 3.15sINFOobjective_server_nodetype: 0 ×10 + 3.15sINFOobjective_server_nodename: "" ×10 + 3.15sINFOobjective_server_nodeinstance_id: "" ×10 + 3.15sINFOobjective_server_node ×10 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.19sINFOmove_groupClearing octomap...[0m ×4 + 3.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.19sINFOmove_groupOctomap cleared.[0m ×4 + 3.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.73sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.89sINFOobjective_server_nodecaller: ×10 + 2.89sINFOobjective_server_nodetype: 0 ×10 + 2.89sINFOobjective_server_nodename: "" ×10 + 2.89sINFOobjective_server_nodeinstance_id: "" ×10 + 2.89sINFOobjective_server_node ×10 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.93sINFOmove_groupClearing octomap...[0m ×4 + 2.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×4 + 2.93sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_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 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.50sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324817 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 1.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.15sINFOobjective_server_nodecaller: ×10 + 2.15sINFOobjective_server_nodetype: 0 ×10 + 2.15sINFOobjective_server_nodename: "" ×10 + 2.15sINFOobjective_server_nodeinstance_id: "" ×10 + 2.15sINFOobjective_server_node ×10 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.19sINFOmove_groupClearing octomap...[0m ×4 + 2.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.19sINFOmove_groupOctomap cleared.[0m ×4 + 2.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 5.83sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886793 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886793 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391117 ms (missed cycles : 3).[0m ×2 + 0.32sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.13sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.13sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.13sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.13sINFOobjective_server_nodecaller: ×10 + 1.13sINFOobjective_server_nodetype: 0 ×10 + 1.13sINFOobjective_server_nodename: "" ×10 + 1.13sINFOobjective_server_nodeinstance_id: "" ×10 + 1.13sINFOobjective_server_node ×10 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789666361.54730272 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.17sINFOmove_groupClearing octomap...[0m ×4 + 1.17sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.17sINFOmove_groupOctomap cleared.[0m ×4 + 1.17sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789666361.55748105 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208362 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789666362.13920283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789666362.14931417 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182318 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789666362.72653294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789666362.87714028 seconds ×3 + 3.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789666363.48310924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_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 + 3.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789666363.54325795 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.574853 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789666364.12315941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892087 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.14sINFOjoint_trajectory_controllerReceived new action goal + 5.14sINFOjoint_trajectory_controllerAccepted new action goal + 5.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226667 ms (missed cycles : 2).[0m ×2 | ||||