80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.2s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 30 errors · 36 warnings · 276 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 1.61sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 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 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_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 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.18sINFOobjective_server_nodecaller: ×10 + 2.18sINFOobjective_server_nodetype: 0 ×10 + 2.18sINFOobjective_server_nodename: "" ×10 + 2.18sINFOobjective_server_nodeinstance_id: "" ×10 + 2.18sINFOobjective_server_node ×10 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.45sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 2.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 2.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 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 2.930649 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930649 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951959 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951959 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710050 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710050 ms (missed cycles : 2).[0m ×2 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925588 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925588 ms (missed cycles : 3).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690265.79571819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909463 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909463 ms (missed cycles : 3).[0m ×2 + 4.15sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 4.16sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690266.48587132 seconds ×3 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.73sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690267.09105158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796684 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796684 ms (missed cycles : 2).[0m ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401711 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401711 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064280 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064280 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 30 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.77sINFOobjective_server_nodecaller: ×8 + 1.77sINFOobjective_server_nodetype: 0 ×8 + 1.77sINFOobjective_server_nodename: "" ×8 + 1.77sINFOobjective_server_nodeinstance_id: "" ×8 + 1.77sINFOobjective_server_node ×8 + 1.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 2.53sWARNobjective_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 + 2.53sERRORobjective_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 + 2.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.15sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.44sINFOmove_groupClearing octomap...[0m ×2 + 4.44sINFOmove_groupOctomap cleared.[0m ×2 + 4.45sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690278.53332090 seconds ×3 + 7.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690279.10709882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 39 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520256 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520256 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 24 errors · 36 warnings · 250 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751600 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751600 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 2.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.42sINFOobjective_server_nodecaller: ×8 + 3.42sINFOobjective_server_nodetype: 0 ×8 + 3.42sINFOobjective_server_nodename: "" ×8 + 3.42sINFOobjective_server_nodeinstance_id: "" ×8 + 3.42sINFOobjective_server_node ×8 + 3.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.69sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 4.14sWARNobjective_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 + 4.14sERRORobjective_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 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 6.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 7.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 8.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.2s | 30 errors · 39 warnings · 275 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 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: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 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 + 0.84sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 1.28sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.29sERRORobjective_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 + 1.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 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: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 2.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3).[0m ×2 + 7.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 141 warnings · 393 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596427 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596427 ms (missed cycles : 4).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855378 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855378 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745922 ms (missed cycles : 4). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745922 ms (missed cycles : 4).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521357 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521357 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556638 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556638 ms (missed cycles : 2).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871067 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871067 ms (missed cycles : 2).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632964 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632964 ms (missed cycles : 2).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.458ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855609 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855609 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528295 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528295 ms (missed cycles : 2).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241176 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241176 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288123 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288123 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532011 ms (missed cycles : 3). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532011 ms (missed cycles : 3).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509515 ms (missed cycles : 3). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509515 ms (missed cycles : 3).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694718 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694718 ms (missed cycles : 2).[0m ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996042 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996042 ms (missed cycles : 2).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808505 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808505 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050582 ms (missed cycles : 3). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050582 ms (missed cycles : 3).[0m ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019523 ms (missed cycles : 4). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019523 ms (missed cycles : 4).[0m ×2 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008103 ms (missed cycles : 2). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008103 ms (missed cycles : 2).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553554 ms (missed cycles : 2). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553554 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859754 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859754 ms (missed cycles : 2).[0m ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206030 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206030 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055332 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055332 ms (missed cycles : 2).[0m ×2 + 31.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416868 ms (missed cycles : 2). + 31.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416868 ms (missed cycles : 2).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214045 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214045 ms (missed cycles : 2).[0m ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847951 ms (missed cycles : 2). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847951 ms (missed cycles : 2).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498092 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498092 ms (missed cycles : 2).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725386 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725386 ms (missed cycles : 2).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817046 ms (missed cycles : 3). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817046 ms (missed cycles : 3).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513847 ms (missed cycles : 2). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513847 ms (missed cycles : 2).[0m ×2 + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097057 ms (missed cycles : 2). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097057 ms (missed cycles : 2).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712733 ms (missed cycles : 3). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712733 ms (missed cycles : 3).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676526 ms (missed cycles : 3). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676526 ms (missed cycles : 3).[0m ×2 + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501085 ms (missed cycles : 2). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501085 ms (missed cycles : 2).[0m ×2 + 42.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275560 ms (missed cycles : 3). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275560 ms (missed cycles : 3).[0m ×2 + 44.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180421 ms (missed cycles : 2). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180421 ms (missed cycles : 2).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3).[0m ×2 + 46.13sINFOjoint_trajectory_controllerGoal reached, success! + 46.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690243.29660797 seconds ×3 + 46.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2).[0m ×2 + 46.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.70sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 46.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690243.87921405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2).[0m ×2 + 47.79sINFOobjective_server_nodeFound path in 0 iterations (6.1405e-05 s). ×2 + 47.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4).[0m ×2 + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3).[0m ×2 + 49.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 50.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 108 errors · 33 warnings · 504 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.62sINFOmove_groupClearing octomap...[0m ×2 + 0.62sINFOmove_groupOctomap cleared.[0m ×2 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690278.53332090 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690279.10709882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690279.84722233 seconds ×3 + 4.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598000 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598000 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651613 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651613 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804210 ms (missed cycles : 2). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804210 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360356 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360356 ms (missed cycles : 2).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646908 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646908 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324186 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.324186 ms (missed cycles : 3).[0m ×2 + 10.50sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.51sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORweb_video_auth_proxy-37process has died [pid 8961, 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 + 10.51sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.52sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORweb_bridge_auth_proxy-36process has died [pid 8959, 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 + 10.52sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.55sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.56sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.57sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.57sINFOvideo_server-35process has finished cleanly [pid 8958] ×2 + 10.58sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.59sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.59sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.60sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.61sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.62sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.63sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.64sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.65sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.66sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.68sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.68sINFOcontroller_managerShutdown request received.... + 10.68sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.68sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.68sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.69sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.69sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.69sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.69sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.69sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.69sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.69sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.69sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.69sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.69sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.69sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.69sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.69sINFOcontroller_managerShutting down the controller manager. + 10.70sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.71sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.72sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.72sERRORmove_group-23process has died [pid 8885, 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_vn0qwbri --params-file /tmp/launch_params_w7vt89di --params-file /tmp/launch_params_w8pk4g64 --params-file /tmp/launch_params_3cg0y8vp --params-file /tmp/launch_params_tupgjhds --params-file /tmp/launch_params_wab06_03']. ×2 + 10.73sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.74sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.75sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.76sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.77sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.77sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.77sINFOmap_serverDeactivating + 10.77sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.77sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.77sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.78sINFOcontroller_serverDeactivating + 10.78sINFOlocal_costmap.local_costmapDeactivating + 10.78sINFOvideo_server2026/09/18 00:11:26 INF shutting down gracefully ×2 + 10.78sINFOvideo_server2026/09/18 00:11:26 INF [WebRTC] closing ×2 + 10.78sINFOvideo_server2026/09/18 00:11:26 INF [RTSP] closing ×2 + 10.78sINFOvideo_server2026/09/18 00:11:26 INF waiting for running hooks ×2 + 10.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.78sINFOmap_serverCleaning up + 10.78sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.78sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.78sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.78sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.78sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.78sERRORmove_groupStack trace (most recent call last) in thread 9538: ×2 + 10.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc28cbf9a63, in __clone ×2 + 10.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc28cb6caa3, in ×2 + 10.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc28cdfedb3, in ×2 + 10.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.78sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fc28d562b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc28d190620, in rclcpp::Rate::sleep() ×2 + 10.78sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc28d0d2d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc28d094087, in ×2 + 10.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc28cdcd390, in __cxa_throw ×2 + 10.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc28cdb7a54, in std::terminate() ×2 + 10.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc28cdcd0d9, in ×2 + 10.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fc28cdb7ff4, in ×2 + 10.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc28caf88fe, in abort ×2 + 10.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc28cb1527d, in raise ×2 + 10.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc28cb6eb2c, in pthread_kill ×2 + 10.78sERRORmove_groupAborted (Signal sent by tkill() 8885 0) ×2 + 10.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.78sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.78sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.79sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.79sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.79sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.79sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.79sINFOodom_qos_relay.pymain() ×2 + 10.79sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.79sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.79sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.79sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.79sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.79sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.79sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.79sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.79sINFOcontroller_serverCleaning up + 10.79sINFOlocal_costmap.local_costmapCleaning up + 10.80sERRORamclThe bond connection to the lifecycle manager has been broken + 10.84sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.84sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.84sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.84sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.84sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.84sINFOvelocity_smootherDeactivating + 10.84sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.84sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.84sINFOsmoother_serverDeactivating + 10.84sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.85sINFOsmoother_serverCleaning up + 10.87sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.87sINFOplanner_serverDeactivating + 10.87sINFOglobal_costmap.global_costmapDeactivating + 10.90sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.90sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.95sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.95sINFOwaypoint_followerDeactivating + 10.95sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.06sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.06sINFObt_navigatorDeactivating + 11.06sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.18sINFObehavior_serverDeactivating + 11.18sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.29sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.29sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.29sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.29sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.29sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.30sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.30sINFOvelocity_smootherCleaning up + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.30sINFOwaypoint_followerCleaning up + 11.33sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.33sINFObt_navigatorCleaning up + 11.40sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.40sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.41sINFOplanner_serverCleaning up + 11.42sINFOglobal_costmap.global_costmapCleaning up + 11.43sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.43sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.47sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.47sINFObehavior_serverCleaning up + 11.47sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.47sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.47sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.47sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.50sINFObt_navigatorCompleted Cleaning up + 11.51sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.56sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.56sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.56sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.56sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.56sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.61sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8957] ×2 + 11.62sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.68sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8925] ×2 + 11.69sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8923] ×2 + 11.69sINFOui_teleop_bridge-32process has finished cleanly [pid 8953] ×2 + 11.69sINFOexecute_objective_bridge-31process has finished cleanly [pid 8950] ×2 + 11.74sINFOparameter_manager_node-24process has finished cleanly [pid 8886] ×2 + 11.75sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8868] ×2 + 11.75sINFOwaypoint_manager_node-25process has finished cleanly [pid 8922] ×2 + 11.75sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8775] ×2 + 11.76sINFOstatic_transform_publisher-8process has finished cleanly [pid 8774] ×2 + 11.77sINFOcomponent_container_mt-30process has finished cleanly [pid 8949] ×2 + 11.77sINFOstatic_transform_publisher-7process has finished cleanly [pid 8773] ×2 + 11.77sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.77sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.77sINFOlidar_flattener.pymain() ×2 + 11.77sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.77sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.77sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.77sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.77sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.77sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.77sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.77sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.77sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.77sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.79sINFOstatic_transform_publisher-4process has finished cleanly [pid 8770] ×2 + 11.80sINFOstatic_transform_publisher-3process has finished cleanly [pid 8769] ×2 + 11.82sERRORlidar_flattener.py-6process has died [pid 8772, 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_t093punq']. ×2 + 11.82sERRORcomponent_container_isolated-1process has died [pid 8767, 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_9iewaz6b --params-file /tmp/launch_params_d64ul586 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.83sINFOobjective_server_node[2026-09-18 00:11:27.323] [moveit_pro_license] [info] ×2 + 11.83sINFOobjective_server_node************************************************* ×4 + 11.83sINFOobjective_server_node* MoveIt Pro License ×2 + 11.83sINFOobjective_server_node* Application has successfully terminated ×2 + 11.84sERRORodom_qos_relay.py-5process has died [pid 8771, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.88sINFOobjective_server_node_main-28process has finished cleanly [pid 8939] ×2 + 11.88sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 12.81sINFOcomponent_container_mt-29process has finished cleanly [pid 8948] ×2 + 13.10sERRORcomponent_container_isolated-2process has died [pid 8768, 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_9iewaz6b --params-file /tmp/launch_params_4m1siwbq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.25sINFOweb_bridge-33process has finished cleanly [pid 8956] ×2 + 13.25sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 13.42sINFOros2_control_node-11process has finished cleanly [pid 8869] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 30 errors · 66 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 0.31sWARNobjective_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 + 0.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 0.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.35sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3).[0m ×2 + 4.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520256 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520256 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024301 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024301 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133339 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133339 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311130 ms (missed cycles : 4). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311130 ms (missed cycles : 4).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930649 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930649 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951959 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951959 ms (missed cycles : 2).[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710050 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710050 ms (missed cycles : 2).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925588 ms (missed cycles : 3). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925588 ms (missed cycles : 3).[0m ×2 + 14.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.02sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690265.79571819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909463 ms (missed cycles : 3). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909463 ms (missed cycles : 3).[0m ×2 + 14.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690266.48587132 seconds ×3 + 15.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.32sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690267.09105158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796684 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796684 ms (missed cycles : 2).[0m ×2 + 15.77sINFOjoint_trajectory_controllerReceived new action goal + 15.77sINFOjoint_trajectory_controllerAccepted new action goal + 15.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401711 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401711 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 2.710050 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710050 ms (missed cycles : 2).[0m ×2 + 0.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.89sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925588 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925588 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.42sINFOobjective_server_nodecaller: ×10 + 1.42sINFOobjective_server_nodetype: 0 ×10 + 1.42sINFOobjective_server_nodename: "" ×10 + 1.42sINFOobjective_server_nodeinstance_id: "" ×10 + 1.42sINFOobjective_server_node ×10 + 1.46sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690265.79571819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909463 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909463 ms (missed cycles : 3).[0m ×2 + 2.15sWARNobjective_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 + 2.15sERRORobjective_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 + 2.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690266.48587132 seconds ×3 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690267.09105158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796684 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796684 ms (missed cycles : 2).[0m ×2 + 3.17sINFOjoint_trajectory_controllerReceived new action goal + 3.17sINFOjoint_trajectory_controllerAccepted new action goal + 3.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401711 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401711 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064280 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064280 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 8.52sINFOjoint_trajectory_controllerGoal reached, success! + 8.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 9.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 9.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 10.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.44sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 11.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.74sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 11.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 11.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 11.78sINFOmove_groupClearing octomap...[0m ×2 + 11.79sINFOmove_groupOctomap cleared.[0m ×2 + 11.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 11.79sINFOcomponent_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 3.180421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180421 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3).[0m ×2 + 2.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.07sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690243.29660797 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.64sINFOobjective_server_nodecaller: ×8 + 2.64sINFOobjective_server_nodetype: 0 ×8 + 2.64sINFOobjective_server_nodename: "" ×8 + 2.64sINFOobjective_server_nodeinstance_id: "" ×8 + 2.64sINFOobjective_server_node ×8 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690243.87921405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (6.1405e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751600 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751600 ms (missed cycles : 3).[0m ×2 + 6.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 6.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 7.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 8.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 8.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 seconds ×3 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 8.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.71sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.75sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.98sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 9.43sWARNobjective_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 + 9.43sERRORobjective_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 + 9.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 10.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.08sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 10.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 11.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.41sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.45sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 12.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.0s | 12 errors · 33 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! + 0.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 0.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 1.52sWARNobjective_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. ×6 + 1.53sERRORobjective_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 + 1.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.44sINFOmove_groupClearing octomap...[0m ×2 + 3.44sINFOmove_groupOctomap cleared.[0m ×2 + 3.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690278.53332090 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690279.10709882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690279.84722233 seconds ×3 + 7.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598000 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598000 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651613 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651613 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.13sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sINFOjoint_trajectory_controllerReceived new action goal + 4.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 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 3.180421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180421 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3).[0m ×2 + 2.07sINFOjoint_trajectory_controllerGoal reached, success! + 2.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690243.29660797 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690243.87921405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (6.1405e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms | ||||
| − 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 3.180421 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180421 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022741 ms (missed cycles : 3).[0m ×2 + 2.07sINFOjoint_trajectory_controllerGoal reached, success! + 2.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690243.29660797 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234443 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.64sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.64sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.64sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.64sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.64sINFOobjective_server_nodecaller: ×2 + 2.64sINFOobjective_server_nodetype: 0 ×2 + 2.64sINFOobjective_server_nodename: "" ×2 + 2.64sINFOobjective_server_nodeinstance_id: "" ×2 + 2.64sINFOobjective_server_node ×2 + 2.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690243.87921405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256516 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (6.1405e-05 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOjoint_trajectory_controllerReceived new action goal + 3.82sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423992 ms (missed cycles : 4).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 6.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[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 3.372259 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372259 ms (missed cycles : 3).[0m ×2 + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.951ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751600 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751600 ms (missed cycles : 3).[0m ×2 + 1.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 2.88sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.42sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.42sINFOobjective_server_nodecaller: ×6 + 3.42sINFOobjective_server_nodetype: 0 ×6 + 3.42sINFOobjective_server_nodename: "" ×6 + 3.42sINFOobjective_server_nodeinstance_id: "" ×6 + 3.42sINFOobjective_server_node ×6 + 3.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.69sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 4.14sWARNobjective_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 + 4.14sERRORobjective_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 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 5.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 6.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 6.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 errors · 30 warnings · 248 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 1.61sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 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 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_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 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.45sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 2.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 errors · 30 warnings · 248 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 1.61sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 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 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_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 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.45sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 2.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 errors · 30 warnings · 248 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 1.61sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 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 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_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 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.45sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 2.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 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 · 248 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 1.61sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 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 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_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 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.45sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 2.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 errors · 30 warnings · 248 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762954 ms (missed cycles : 3).[0m ×2 + 1.61sINFOjoint_trajectory_controllerGoal reached, success! + 1.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 1.64sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690249.36932921 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 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.65sINFOros2_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 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127308 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.17sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.18sINFOobjective_server_nodecaller: ×8 + 2.18sINFOobjective_server_nodetype: 0 ×8 + 2.18sINFOobjective_server_nodename: "" ×8 + 2.18sINFOobjective_server_nodeinstance_id: "" ×8 + 2.18sINFOobjective_server_node ×8 + 2.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690249.94945931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.45sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.700ms + 2.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.90sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.58sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 5.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.19sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690250.62962365 seconds ×3 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697723 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.69sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690251.31636596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266614 ms (missed cycles : 3).[0m ×2 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690252.04650950 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690252.64847350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743461 ms (missed cycles : 3).[0m ×2 + 2.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690253.31864095 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690253.92359591 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356392 ms (missed cycles : 3).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690254.60707545 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406316 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690255.21105337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690255.91124415 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447521 ms (missed cycles : 3).[0m ×2 + 5.94sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545916 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_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 2.805642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805642 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048222 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.89sINFOobjective_server_nodecaller: ×6 + 2.89sINFOobjective_server_nodetype: 0 ×6 + 2.89sINFOobjective_server_nodename: "" ×6 + 2.89sINFOobjective_server_nodeinstance_id: "" ×6 + 2.89sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_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 + 3.65sERRORobjective_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 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.55sINFOmove_groupClearing octomap...[0m ×2 + 5.55sINFOmove_groupOctomap cleared.[0m ×2 + 5.56sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.56sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 27 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675203 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! + 0.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690272.91119289 seconds ×3 + 0.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.77sINFOobjective_server_nodecaller: ×8 + 0.77sINFOobjective_server_nodetype: 0 ×8 + 0.77sINFOobjective_server_nodename: "" ×8 + 0.77sINFOobjective_server_nodeinstance_id: "" ×8 + 0.77sINFOobjective_server_node ×8 + 0.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690273.49353075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330433 ms (missed cycles : 2).[0m ×2 + 1.52sWARNobjective_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. ×6 + 1.53sERRORobjective_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 + 1.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690274.21367502 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441568 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690274.82672095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690275.50689030 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009037 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690276.11317992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.44sINFOmove_groupClearing octomap...[0m ×2 + 3.44sINFOmove_groupOctomap cleared.[0m ×2 + 3.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059423 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656831 ms (missed cycles : 3).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690278.53332090 seconds ×3 + 6.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.39sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690279.10709882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680612 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.6s | 76 errors · 503 warnings · 2525 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-00-07-41-229274-c2f8d34efb30-7601 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.91sINFOros2_control_node-11process started with pid [7753] + 4.91sINFOmove_group-23process started with pid [7771] + 4.91sINFOparameter_manager_node-24process started with pid [7778] + 4.91sINFOwaypoint_manager_node-25process started with pid [7806] + 4.91sINFOmove_joint_resampler_node-26process started with pid [7807] + 4.91sINFOmove_end_effector_resampler_node-27process started with pid [7808] + 4.91sINFOobjective_server_node_main-28process started with pid [7809] + 4.91sINFOcomponent_container_mt-29process started with pid [7813] + 4.91sINFOcomponent_container_mt-30process started with pid [7814] + 4.91sINFOexecute_objective_bridge-31process started with pid [7821] + 4.91sINFOui_teleop_bridge-32process started with pid [7837] + 4.91sINFOweb_bridge-33process started with pid [7840] + 4.91sINFOtf2_web_republisher_node-34process started with pid [7842] + 4.91sINFOvideo_server-35process started with pid [7844] + 4.91sINFOweb_bridge_auth_proxy-36process started with pid [7847] + 4.91sINFOweb_video_auth_proxy-37process started with pid [7856] + 4.92sINFOcomponent_container_isolated-1process started with pid [7651] + 4.92sINFOcomponent_container_isolated-2process started with pid [7652] + 4.92sINFOstatic_transform_publisher-3process started with pid [7653] + 4.92sINFOstatic_transform_publisher-4process started with pid [7654] + 4.92sINFOodom_qos_relay.py-5process started with pid [7655] + 4.92sINFOlidar_flattener.py-6process started with pid [7656] + 4.92sINFOstatic_transform_publisher-7process started with pid [7657] + 4.92sINFOstatic_transform_publisher-8process started with pid [7658] + 4.92sINFOscan_to_scan_filter_chain-9process started with pid [7659] + 4.92sINFOscan_to_scan_filter_chain-10process started with pid [7752] + 4.92sINFOros2-12process started with pid [7754] + 4.92sINFOros2-13process started with pid [7759] + 4.92sINFOros2-14process started with pid [7761] + 4.92sINFOros2-15process started with pid [7763] + 4.92sINFOros2-16process started with pid [7764] + 4.92sINFOros2-17process started with pid [7765] + 4.92sINFOros2-18process started with pid [7766] + 4.92sINFOros2-19process started with pid [7767] + 4.92sINFOros2-20process started with pid [7768] + 4.92sINFOros2-21process started with pid [7769] + 4.92sINFOros2-22process started with pid [7770] + 4.98sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 4.98sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 4.98sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 4.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 4.98sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 4.98sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 4.98sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.98sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.98sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.98sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 4.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 4.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.00sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.00sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.00sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.00sWARNros2_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 + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 20.082394 ms (missed cycles : 13).[0m + 5.07sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.21sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.22sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.25sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.30sINFOvideo_server2026/09/18 00:07:48 INF MediaMTX v1.20.1, linux, amd64 + 5.30sINFOvideo_server2026/09/18 00:07:48 INF configuration loaded from /tmp/moveit-webrtc-rsyvwep1/mediamtx.yml + 5.30sINFOvideo_server2026/09/18 00:07:48 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.30sINFOvideo_server2026/09/18 00:07:48 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.42sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.44sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.60sWARNscan_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 + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.67sINFOmove_groupLoaded robot model in 0.290407 seconds[0m + 5.67sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.67sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.277637 ms (missed cycles : 4).[0m + 6.14sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.39sINFOwaypoint_manager_nodeLoaded robot model in 0.382044 seconds[0m + 6.39sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.39sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.40sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.41sWARNmove_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 + 6.41sWARNmove_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.75sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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 + 6.83sINFOmove_group[2026-09-18 00:07:49.618] [moveit_pro_license] [info] + 6.83sINFOmove_group************************************************* ×6 + 6.83sINFOmove_group* MoveIt Pro License ×3 + 6.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.91sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.91sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.94sINFOros2_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 + 6.94sINFOros2_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 + 7.01sINFOwaypoint_manager_node[2026-09-18 00:07:49.796] [moveit_pro_license] [info] + 7.01sINFOwaypoint_manager_node************************************************* ×6 + 7.01sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.01sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842707 ms (missed cycles : 2).[0m + 7.28sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.28sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.28sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.28sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.28sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.29sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.30sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.30sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.30sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.30sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.30sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.50sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.51sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.51sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.75sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.75sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.75sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.76sWARNros2_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 + 7.76sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.76sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.76sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.76sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.76sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.76sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.76sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.76sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.76sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.76sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.76sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.76sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.76sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.76sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 7.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 7.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 7.98sINFOobjective_server_node[2026-09-18 00:07:50.767] [moveit_pro_license] [info] + 7.98sINFOobjective_server_node************************************************* ×8 + 7.98sINFOobjective_server_node* MoveIt Pro License ×4 + 7.98sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.99sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 7.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 7.99sINFOros2_control_nodeconfigure successful[0m ×9 + 8.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 8.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.00sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 8.01sINFOros2_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 + 8.01sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.01sWARNros2_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 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.09sINFOobjective_server_nodeLoaded robot model in 0.0368918 seconds[0m + 8.09sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.09sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.14sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.14sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.14sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.14sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.14sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.15sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.15sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.15sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.15sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.15sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.15sINFOcomponent_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 + 8.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181679 ms (missed cycles : 2).[0m + 8.28sWARNcomponent_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 + 8.30sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.30sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 8.33sINFOros2-15process has finished cleanly [pid 7763] + 8.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.41sINFOcomponent_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 + 8.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 8.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 8.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 8.50sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.50sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.50sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.51sWARNobjective_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 + 8.57sINFOcomponent_container_mtLoaded robot model in 0.289664 seconds[0m + 8.57sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.57sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.63sINFOobjective_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 + 8.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.65sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.65sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.89sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 8.94sINFOros2_control_node[2026-09-18 00:07:51.725] [info] Controller state will be published at 20 Hz. + 8.94sINFOros2_control_node[2026-09-18 00:07:51.727] [info] JointVelocityController 'on_configure' succeeded. + 8.95sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 8.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.10sINFOmove_group ×12 + 9.10sINFOmove_group******************************************************** ×6 + 9.10sINFOmove_group* MoveGroup using: ×3 + 9.10sINFOmove_group* - apply_planning_scene_service ×3 + 9.10sINFOmove_group* - clear_octomap_service ×3 + 9.10sINFOmove_group* - get_group_urdf ×3 + 9.10sINFOmove_group* - load_geometry_from_file ×3 + 9.10sINFOmove_group* - get_planning_scene_service ×3 + 9.10sINFOmove_group* - kinematics_service ×3 + 9.10sINFOmove_group* - save_geometry_to_file ×3 + 9.10sINFOmove_group* - GetPlanningGroups ×3 + 9.10sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.10sINFOmove_group[0m ×3 + 9.10sINFOmove_group[92mYou can start planning now![0m ×3 + 9.25sINFOcomponent_container_mt[2026-09-18 00:07:52.030] [moveit_pro_license] [info] + 9.25sINFOcomponent_container_mt************************************************* ×6 + 9.25sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.25sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.25sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 9.25sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 9.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246615 ms (missed cycles : 2).[0m + 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 + 9.29sINFOros2-21process has finished cleanly [pid 7769] + 9.30sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 9.30sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 9.57sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.57sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.59sINFOros2_control_node[2026-09-18 00:07:52.377] [info] Controller state will be published at 20 Hz. + 9.59sINFOros2_control_node[2026-09-18 00:07:52.378] [info] JointVelocityController 'on_configure' succeeded. + 9.71sWARNros2_control_nodeCamera render tick took 0.88 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 + 9.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.73sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.74sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 9.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 9.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 9.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 9.92sINFOros2-22process has finished cleanly [pid 7770] + 9.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 9.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 9.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 9.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 9.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 10.32sINFOros2-14process has finished cleanly [pid 7761] + 10.32sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 10.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490408 ms (missed cycles : 3).[0m + 10.40sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 10.45sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 10.45sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 10.75sINFOros2_control_node[2026-09-18 00:07:53.532] [warning] No force/torque sensor configured. The VFC will ignore force references. + 10.75sINFOros2_control_node[2026-09-18 00:07:53.534] [info] Controller state will be published at 10 Hz. + 10.75sINFOros2_control_node[2026-09-18 00:07:53.535] [info] VelocityForceController 'on_configure' succeeded. + 10.80sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.07sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.07sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.07sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 11.08sINFOros2-19process has finished cleanly [pid 7767] + 11.12sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 11.13sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.43sINFOros2_control_node[2026-09-18 00:07:54.215] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.43sINFOros2_control_node[2026-09-18 00:07:54.217] [info] Controller state will be published at 10 Hz. + 11.43sINFOros2_control_node[2026-09-18 00:07:54.218] [info] VelocityForceController 'on_configure' succeeded. + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695881 ms (missed cycles : 2).[0m + 11.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 11.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 11.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 11.76sINFOros2-20process has finished cleanly [pid 7768] + 11.84sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 11.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 11.84sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 11.84sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 11.84sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 11.84sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 11.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 11.85sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 12.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 12.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 12.17sINFOros2-18process has finished cleanly [pid 7766] + 12.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 12.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 12.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 12.22sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 12.54sINFOros2-12process has finished cleanly [pid 7754] + 12.56sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 12.56sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 12.56sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 12.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 12.61sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 12.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 12.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 12.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 12.63sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827185 ms (missed cycles : 3).[0m + 13.05sINFOros2-16process has finished cleanly [pid 7764] + 13.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 13.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 13.12sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 13.13sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 13.46sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 13.46sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 13.46sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_gw0yet89 --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_s7gwnuqn --params-file /tmp/launch_params_fcsctsm0 [0m + 13.47sINFOros2-17process has finished cleanly [pid 7765] + 13.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 13.51sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 13.52sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 13.52sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 13.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 13.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 13.74sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074147 ms (missed cycles : 2).[0m + 13.83sINFOros2-13process has finished cleanly [pid 7759] + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064238 ms (missed cycles : 2).[0m + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686883 ms (missed cycles : 3).[0m + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325105 ms (missed cycles : 2).[0m + 17.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726544 ms (missed cycles : 3).[0m + 18.86sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.86sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.86sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.86sINFOobjective_server_nodecaller: ×27 + 18.86sINFOobjective_server_nodetype: 0 ×27 + 18.86sINFOobjective_server_nodename: "" ×27 + 18.86sINFOobjective_server_nodeinstance_id: "" ×27 + 18.86sINFOobjective_server_node ×27 + 18.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690081.69631243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.91sINFOmove_groupClearing octomap...[0m ×7 + 18.92sINFOmove_groupOctomap cleared.[0m ×7 + 18.92sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 18.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690081.70651913 seconds + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039086 ms (missed cycles : 3).[0m + 19.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690082.28511786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690082.29523134 seconds + 20.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116197 ms (missed cycles : 4).[0m + 20.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690082.87271380 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690083.02326298 seconds + 20.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690083.62029386 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.85sINFOobjective_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 + 20.85sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 20.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690083.68041611 seconds + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616473 ms (missed cycles : 4).[0m + 21.43sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690084.25102377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900497 ms (missed cycles : 2).[0m + 22.53sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.82sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.83sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859687 ms (missed cycles : 3).[0m + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299424 ms (missed cycles : 2).[0m + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409216 ms (missed cycles : 2).[0m + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014385 ms (missed cycles : 2).[0m + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070508 ms (missed cycles : 2).[0m + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846590 ms (missed cycles : 2).[0m + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299756 ms (missed cycles : 2).[0m + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181039 ms (missed cycles : 2).[0m + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063116 ms (missed cycles : 2).[0m + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868684 ms (missed cycles : 2).[0m + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222568 ms (missed cycles : 2).[0m + 35.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297307 ms (missed cycles : 2).[0m + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371952 ms (missed cycles : 4).[0m + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829786 ms (missed cycles : 2).[0m + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676921 ms (missed cycles : 2).[0m + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723393 ms (missed cycles : 2).[0m + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597789 ms (missed cycles : 3).[0m + 41.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307238 ms (missed cycles : 4).[0m + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659030 ms (missed cycles : 2).[0m + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069253 ms (missed cycles : 2).[0m + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938509 ms (missed cycles : 2).[0m + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986055 ms (missed cycles : 2).[0m + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972212 ms (missed cycles : 2).[0m + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800676 ms (missed cycles : 2).[0m + 49.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257198 ms (missed cycles : 2).[0m + 50.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836661 ms (missed cycles : 3).[0m + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541056 ms (missed cycles : 3).[0m + 52.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913798 ms (missed cycles : 2).[0m + 53.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262675 ms (missed cycles : 2).[0m + 54.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.682141 ms (missed cycles : 4).[0m + 56.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030721 ms (missed cycles : 2).[0m + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038008 ms (missed cycles : 2).[0m + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286044 ms (missed cycles : 3).[0m + 59.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655748 ms (missed cycles : 4).[0m + 60.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016723 ms (missed cycles : 2).[0m + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881421 ms (missed cycles : 2).[0m + 62.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160613 ms (missed cycles : 2).[0m + 63.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625866 ms (missed cycles : 4).[0m + 64.22sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690127.02076292 seconds + 64.24sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 64.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 64.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 64.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320994 ms (missed cycles : 2).[0m + 64.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 64.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690127.59359670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.049296 ms (missed cycles : 4).[0m + 65.85sINFOobjective_server_nodeFound path in 0 iterations (2.0788e-05 s). + 65.92sINFOobjective_server_nodePath shortcutter: [X________________________X] + 65.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175238 ms (missed cycles : 2).[0m + 67.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523469 ms (missed cycles : 3).[0m + 68.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286677 ms (missed cycles : 2).[0m + 69.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820919 ms (missed cycles : 3).[0m + 70.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690133.08372498 seconds + 70.84sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 70.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690133.66985965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 70.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055175 ms (missed cycles : 2).[0m + 71.56sWARNobjective_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 + 71.57sERRORobjective_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 + 71.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690134.35004210 seconds + 72.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054111 ms (missed cycles : 2).[0m + 72.21sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690135.02775788 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690135.75792527 seconds + 73.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713967 ms (missed cycles : 2).[0m + 73.53sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690136.36106825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078603 ms (missed cycles : 2).[0m + 74.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690137.07122779 seconds + 74.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 74.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690137.67704058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762091 ms (missed cycles : 2).[0m + 75.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690138.38718724 seconds + 76.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.20sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690138.98721933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718298 ms (missed cycles : 3).[0m + 76.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690139.67738056 seconds + 77.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551844 ms (missed cycles : 4).[0m + 78.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321052 ms (missed cycles : 2).[0m + 79.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813725 ms (missed cycles : 2).[0m + 81.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963173 ms (missed cycles : 2).[0m + 82.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957461 ms (missed cycles : 2).[0m + 83.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795935 ms (missed cycles : 2).[0m + 84.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763103 ms (missed cycles : 2).[0m + 85.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952023 ms (missed cycles : 2).[0m + 86.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705895 ms (missed cycles : 2).[0m + 87.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.22sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690150.00390339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569713 ms (missed cycles : 2).[0m + 87.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690150.71408248 seconds + 88.49sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690151.31145263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864572 ms (missed cycles : 2).[0m + 90.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351528 ms (missed cycles : 2).[0m + 91.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011798 ms (missed cycles : 2).[0m + 92.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862472 ms (missed cycles : 2).[0m + 93.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197529 ms (missed cycles : 2).[0m + 94.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625828 ms (missed cycles : 2).[0m + 94.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690157.14158440 seconds + 94.90sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 94.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690157.72844505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746906 ms (missed cycles : 4).[0m + 95.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690158.41859412 seconds + 96.20sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.24sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690159.02612901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853451 ms (missed cycles : 2).[0m + 96.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690159.70629072 seconds + 97.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526104 ms (missed cycles : 2).[0m + 97.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690160.30013657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936146 ms (missed cycles : 3).[0m + 99.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226912 ms (missed cycles : 4).[0m +100.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690163.13025570 seconds +100.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225970 ms (missed cycles : 3).[0m +100.88sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +100.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690163.70164490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958763 ms (missed cycles : 2).[0m +101.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690164.44175625 seconds +101.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975683 ms (missed cycles : 2).[0m +103.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852675 ms (missed cycles : 2).[0m +104.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720482 ms (missed cycles : 2).[0m +105.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893785 ms (missed cycles : 2).[0m +107.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356211 ms (missed cycles : 2).[0m +108.01sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.01sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.02sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.02sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.02sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.02sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.03sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.04sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.05sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.05sERRORweb_video_auth_proxy-37process has died [pid 7856, 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']. +108.05sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.06sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.06sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.06sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.06sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.06sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.07sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.07sERRORweb_bridge_auth_proxy-36process has died [pid 7847, 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']. +108.07sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.08sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.08sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.08sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.08sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.09sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.10sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.11sINFOvideo_server-35process has finished cleanly [pid 7844] +108.11sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.12sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.13sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.14sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.15sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.17sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.18sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.19sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.20sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.21sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.22sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.23sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.24sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.25sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.26sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.27sERRORmove_group-23process has died [pid 7771, 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_89_vb9zh --params-file /tmp/launch_params_uwmn5cw2 --params-file /tmp/launch_params_3dke1cyz --params-file /tmp/launch_params_2rlfrk1v --params-file /tmp/launch_params_jl5v07h_ --params-file /tmp/launch_params_kxbob9ap']. +108.27sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.28sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.29sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.30sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.31sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.31sINFOvideo_server2026/09/18 00:09:30 INF shutting down gracefully +108.31sINFOvideo_server2026/09/18 00:09:30 INF [WebRTC] closing +108.31sINFOvideo_server2026/09/18 00:09:30 INF [RTSP] closing +108.31sINFOvideo_server2026/09/18 00:09:30 INF waiting for running hooks +108.31sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.31sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717800 ms (missed cycles : 2).[0m +108.31sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOcomponent_container_mtStopping planning scene monitor[0m +108.31sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.31sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.31sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.31sERRORmove_groupStack trace (most recent call last) in thread 8421: +108.31sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.31sINFOros2_control_nodeShutdown request received....[0m +108.31sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.31sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.31sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.31sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.31sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.31sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.31sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.31sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.31sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.31sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.31sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.31sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.31sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.31sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.31sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.32sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.32sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.32sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.32sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.32sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.32sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.32sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.32sINFOros2_control_nodeShutting down the controller manager.[0m +108.32sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +108.32sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.32sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2dfc0caa63, in __clone +108.32sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2dfc03daa3, in +108.32sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2dfc2cfdb3, in +108.32sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f2dfca33b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.32sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2dfc661620, in rclcpp::Rate::sleep() +108.32sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2dfc5a3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.32sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2dfc565087, in +108.32sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2dfc29e390, in __cxa_throw +108.32sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2dfc288a54, in std::terminate() +108.32sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2dfc29e0d9, in +108.32sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2dfc288ff4, in +108.32sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2dfbfc98fe, in abort +108.32sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2dfbfe627d, in raise +108.32sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2dfc03fb2c, in pthread_kill +108.32sERRORmove_groupAborted (Signal sent by tkill() 7771 0) +108.32sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.32sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.32sERRORodom_qos_relay.pyTraceback (most recent call last): +108.32sINFOodom_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> +108.32sINFOodom_qos_relay.pymain() +108.32sINFOodom_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 +108.32sINFOodom_qos_relay.pyrclpy.spin(node) +108.32sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.32sINFOodom_qos_relay.pyexecutor.spin_once() +108.32sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.32sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.32sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.32sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.32sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.32sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.32sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.32sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.32sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.32sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.32sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.32sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.37sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.37sINFOros2_control_nodepublish_async_failures_ 1[0m +108.37sINFOros2_control_nodepublish_async_failures_ 0[0m +109.15sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7842] +109.15sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.21sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7808] +109.22sINFOui_teleop_bridge-32process has finished cleanly [pid 7837] +109.23sINFOexecute_objective_bridge-31process has finished cleanly [pid 7821] +109.23sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7807] +109.27sINFOparameter_manager_node-24process has finished cleanly [pid 7778] +109.28sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7752] +109.29sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7659] +109.29sINFOstatic_transform_publisher-8process has finished cleanly [pid 7658] +109.29sINFOcomponent_container_mt-30process has finished cleanly [pid 7814] +109.30sINFOwaypoint_manager_node-25process has finished cleanly [pid 7806] +109.30sINFOstatic_transform_publisher-7process has finished cleanly [pid 7657] +109.30sERRORlidar_flattener.pyTraceback (most recent call last): +109.30sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.30sINFOlidar_flattener.pymain() +109.30sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.30sINFOlidar_flattener.pyrclpy.spin(node) +109.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.30sINFOlidar_flattener.pyexecutor.spin_once() +109.30sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.31sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.31sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.31sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.31sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.31sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.31sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.31sINFOlidar_flattener.pyraise ExternalShutdownException() +109.31sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.32sINFOstatic_transform_publisher-4process has finished cleanly [pid 7654] +109.33sINFOstatic_transform_publisher-3process has finished cleanly [pid 7653] +109.34sINFOobjective_server_node[2026-09-18 00:09:32.122] [moveit_pro_license] [info] +109.34sINFOobjective_server_node* Application has successfully terminated +109.35sERRORlidar_flattener.py-6process has died [pid 7656, 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_ir71krc_']. +109.36sERRORodom_qos_relay.py-5process has died [pid 7655, 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']. +109.39sINFOobjective_server_node_main-28process has finished cleanly [pid 7809] +109.40sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +109.69sERRORcomponent_container_isolated-2process has died [pid 7652, 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_802sjkdz --params-file /tmp/launch_params_njxz2jxd -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +109.79sERRORcomponent_container_isolated-1process has died [pid 7651, 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_802sjkdz --params-file /tmp/launch_params_0qo2_tsv -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.33sINFOcomponent_container_mt-29process has finished cleanly [pid 7813] +110.78sINFOweb_bridge-33process has finished cleanly [pid 7840] +110.78sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +110.89sINFOros2_control_node-11process has finished cleanly [pid 7753] +116.29sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-00-09-37-510721-c2f8d34efb30-8717 ×2 +120.88sINFOstatic_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' +120.88sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' +120.89sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +120.90sINFOstatic_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' +121.07sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +121.09sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +121.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +121.10sINFOcontroller_managerupdate rate is 600 Hz +121.10sINFOcontroller_managerOverruns handling is : enabled +121.10sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +121.10sWARNcontroller_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. +121.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +121.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679390 ms (missed cycles : 3). +121.15sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +121.16sINFOros2_control_node-11process started with pid [8869] ×2 +121.16sINFOmove_group-23process started with pid [8885] ×2 +121.16sINFOparameter_manager_node-24process started with pid [8886] ×2 +121.16sINFOwaypoint_manager_node-25process started with pid [8922] ×2 +121.16sINFOmove_joint_resampler_node-26process started with pid [8923] ×2 +121.16sINFOmove_end_effector_resampler_node-27process started with pid [8925] ×2 +121.16sINFOobjective_server_node_main-28process started with pid [8939] ×2 +121.17sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +121.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.18sINFOcomponent_container_mt-29process started with pid [8948] ×2 +121.18sINFOcomponent_container_mt-30process started with pid [8949] ×2 +121.18sINFOexecute_objective_bridge-31process started with pid [8950] ×2 +121.18sINFOui_teleop_bridge-32process started with pid [8953] ×2 +121.18sINFOweb_bridge-33process started with pid [8956] ×2 +121.18sINFOtf2_web_republisher_node-34process started with pid [8957] ×2 +121.18sINFOvideo_server-35process started with pid [8958] ×2 +121.18sINFOweb_bridge_auth_proxy-36process started with pid [8959] ×2 +121.18sINFOweb_video_auth_proxy-37process started with pid [8961] ×2 +121.19sINFOcomponent_container_isolated-1process started with pid [8767] ×2 +121.19sINFOcomponent_container_isolated-2process started with pid [8768] ×2 +121.19sINFOstatic_transform_publisher-3process started with pid [8769] ×2 +121.19sINFOstatic_transform_publisher-4process started with pid [8770] ×2 +121.19sINFOodom_qos_relay.py-5process started with pid [8771] ×2 +121.19sINFOlidar_flattener.py-6process started with pid [8772] ×2 +121.19sINFOstatic_transform_publisher-7process started with pid [8773] ×2 +121.19sINFOstatic_transform_publisher-8process started with pid [8774] ×2 +121.19sINFOscan_to_scan_filter_chain-9process started with pid [8775] ×2 +121.19sINFOscan_to_scan_filter_chain-10process started with pid [8868] ×2 +121.19sINFOros2-12process started with pid [8870] ×2 +121.19sINFOros2-13process started with pid [8871] ×2 +121.19sINFOros2-14process started with pid [8872] ×2 +121.19sINFOros2-15process started with pid [8873] ×2 +121.19sINFOros2-16process started with pid [8874] ×2 +121.19sINFOros2-17process started with pid [8875] ×2 +121.19sINFOros2-18process started with pid [8876] ×2 +121.19sINFOros2-19process started with pid [8877] ×2 +121.19sINFOros2-20process started with pid [8878] ×2 +121.19sINFOros2-21process started with pid [8881] ×2 +121.19sINFOros2-22process started with pid [8884] ×2 +121.20sINFOcontroller_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. +121.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +121.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +121.22sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.22sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.23sINFOmap_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. +121.23sINFOmap_serverCreating +121.25sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +121.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.679390 ms (missed cycles : 3).[0m ×2 +121.26sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.27sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.31sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.31sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.32sINFOcontroller_serverCreating controller server +121.33sINFOlifecycle_manager_localizationCreating +121.34sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +121.34sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +121.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.36sINFOlocal_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. +121.37sINFOlocal_costmap.local_costmapCreating Costmap +121.37sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +121.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.39sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.39sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +121.39sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +121.39sINFOmap_serverConfiguring +121.41sINFOsmoother_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. +121.45sINFOsmoother_serverCreating smoother server +121.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +121.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.47sINFOrobot_state_publisherRobot initialized +121.47sINFOcontroller_managerReceived robot description from topic. +121.47sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +121.50sINFOplanner_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. +121.51sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +121.51sINFOamclConfiguring +121.51sINFOplanner_serverCreating +121.51sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +121.51sINFOmap_serverActivating +121.52sINFOmap_serverCreating bond (map_server) to lifecycle manager. +121.52sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +121.53sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +121.54sINFOvideo_server2026/09/18 00:09:44 INF MediaMTX v1.20.1, linux, amd64 ×2 +121.54sINFOvideo_server2026/09/18 00:09:44 INF configuration loaded from /tmp/moveit-webrtc-atnl0lmj/mediamtx.yml ×2 +121.55sINFOvideo_server2026/09/18 00:09:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +121.55sINFOvideo_server2026/09/18 00:09:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +121.56sINFOglobal_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. +121.56sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.56sINFOglobal_costmap.global_costmapCreating Costmap +121.56sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.58sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +121.59sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +121.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +121.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +121.62sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.63sINFOlifecycle_manager_localizationServer map_server connected with bond. +121.63sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +121.63sINFOamclActivating +121.63sINFOamclSubscribed to initial_pose_topic: /initialpose +121.63sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +121.64sINFOamclSubscribed to map_topic: /map +121.65sINFOamclSubscribed to scan_topic: /scan_merged +121.65sINFOamclCreated reinitialize_global_localization service +121.65sINFOamclCreated request_nomotion_update service +121.65sINFOamclA new map was received +121.65sINFOamclInitializing particle filter instance +121.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +121.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.76sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.79sINFObt_navigatorCreating +121.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +121.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.84sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.85sINFOwaypoint_followerCreating +121.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +121.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.88sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.42771 seconds +121.88sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +121.88sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +121.88sINFOmove_groupLoaded robot model in 0.42771 seconds[0m ×2 +121.90sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +121.94sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.98sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +121.98sINFOlifecycle_manager_navigationCreating +122.01sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.04sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +122.04sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +122.04sINFOcontroller_serverConfiguring controller interface +122.04sINFOcontroller_servergetting progress checker plugins.. +122.04sINFOcontroller_servergetting goal checker plugins.. +122.04sINFOcontroller_serverController frequency set to 20.0000Hz +122.04sINFOlocal_costmap.local_costmapConfiguring +122.08sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +122.11sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +122.17sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +122.17sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +122.18sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +122.22sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +122.22sINFOcontroller_serverController Server has progress_checker progress checkers available. +122.23sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +122.23sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +122.23sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +122.25sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +122.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674035 ms (missed cycles : 3). +122.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674035 ms (missed cycles : 3).[0m ×2 +122.26sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +122.26sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +122.26sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +122.26sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +122.26sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +122.27sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +122.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +122.28sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +122.28sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +122.29sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +122.29sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +122.29sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +122.30sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +122.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +122.31sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +122.31sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +122.32sINFOcontroller_serverOptimizer reset ×2 +122.33sINFOcontroller_serverController Server has FollowPath controllers available. +122.35sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +122.35sINFOsmoother_serverConfiguring smoother server +122.38sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +122.38sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +122.40sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +122.40sINFOplanner_serverConfiguring +122.40sINFOglobal_costmap.global_costmapConfiguring +122.41sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +122.41sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +122.41sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +122.41sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +122.42sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +122.46sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +122.46sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +122.46sINFOwaypoint_manager_nodeLoaded robot model in 0.400377 seconds[0m ×2 +122.47sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +122.49sINFOamclParticle filter initialization completed +122.49sINFOamclInitializing particles from estimated pose and covariance +122.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +122.50sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +122.50sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +122.50sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +122.51sINFOplanner_serverPlanner Server has GridBased planners available. +122.52sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +122.52sINFObehavior_serverConfiguring +122.53sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +122.53sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +122.53sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +122.53sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +122.54sINFOlifecycle_manager_localizationServer amcl connected with bond. +122.54sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +122.54sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +122.54sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +122.54sINFObehavior_serverConfiguring spin +122.55sINFObehavior_serverConfiguring backup +122.56sINFObehavior_serverConfiguring drive_on_heading +122.56sINFObehavior_serverConfiguring assisted_teleop +122.58sINFObehavior_serverConfiguring wait +122.58sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +122.58sINFObt_navigatorConfiguring +122.59sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +122.60sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +122.60sINFOamclThe bond connection to the lifecycle manager is now fully formed +122.71sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +122.75sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +122.75sINFOwaypoint_followerConfiguring +122.78sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +122.79sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +122.79sINFOvelocity_smootherConfiguring velocity smoother +122.80sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +122.80sINFOcontroller_serverActivating +122.80sINFOlocal_costmap.local_costmapActivating +122.80sINFOlocal_costmap.local_costmapChecking transform +122.80sINFOlocal_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. ×10 +122.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_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. +122.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.91sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +122.91sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.97sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.98sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.99sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.99sWARNwaypoint_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. +123.12sINFOmove_group[2026-09-18 00:09:45.904] [moveit_pro_license] [info] ×2 +123.41sINFOwaypoint_manager_node[2026-09-18 00:09:46.190] [moveit_pro_license] [info] ×2 +123.56sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +123.56sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +123.56sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +123.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +123.56sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +123.57sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +123.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +123.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +123.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +123.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +123.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +123.74sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +123.74sINFOcontroller_managerActivating component 'ur_mujoco_control'. +123.74sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +123.74sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +123.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085449 ms (missed cycles : 2). +123.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085449 ms (missed cycles : 2).[0m ×2 +123.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +123.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +123.78sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +123.78sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +123.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +123.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +123.82sINFOforce_torque_sensor_broadcasterconfigure successful +123.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +123.82sINFOcontroller_managerSuccessfully switched controllers! ×20 +123.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +124.13sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +124.13sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +124.16sINFOros2-12process has finished cleanly [pid 8870] ×2 +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +124.24sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.24sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +124.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.26sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +124.26sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +124.27sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +124.28sINFOobjective_server_node[2026-09-18 00:09:47.059] [moveit_pro_license] [info] ×2 +124.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +124.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +124.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +124.29sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +124.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +124.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +124.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +124.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +124.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +124.30sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +124.30sINFOstreaming_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) +124.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +124.33sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +124.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +124.35sINFOobjective_server_nodeLoaded robot model in 0.0233219 seconds[0m ×2 +124.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.46sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.51sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +124.51sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +124.53sINFOstreaming_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) +124.54sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +124.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157413 ms (missed cycles : 2). +124.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157413 ms (missed cycles : 2).[0m ×2 +124.79sINFOcomponent_container_mtLoaded robot model in 0.320412 seconds[0m ×2 +124.83sINFOros2_control_node[2026-09-18 00:09:47.617] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +124.84sINFOros2_control_node[2026-09-18 00:09:47.620] [info] Controller state will be published at 10 Hz. ×2 +124.84sINFOros2_control_node[2026-09-18 00:09:47.621] [info] VelocityForceController 'on_configure' succeeded. ×2 +124.85sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +124.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.85sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.86sWARNobjective_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.14sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.15sWARNplanning_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. +125.16sWARNplanning_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. +125.16sWARNplanning_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. +125.16sWARNplanning_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. +125.16sWARNplanning_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. +125.16sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +125.16sINFOcontroller_managerLoading controller 'vacuum_gripper' +125.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +125.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +125.19sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +125.19sINFOros2-20process has finished cleanly [pid 8878] ×2 +125.22sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +125.22sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +125.22sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +125.23sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +125.24sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +125.28sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +125.37sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +125.40sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +125.41sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +125.41sINFOmove_groupMoveGroup debug mode is ON +125.42sINFOcomponent_container_mt[2026-09-18 00:09:48.206] [moveit_pro_license] [info] ×2 +125.55sINFOros2-16process has finished cleanly [pid 8874] ×2 +125.59sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +125.59sINFOcontroller_managerLoading controller 'platform_velocity_controller' +125.60sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +125.60sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +125.60sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+125.66sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +125.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +125.66sINFOplatform_velocity_controllerconfigure successful +125.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +125.68sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +125.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966815 ms (missed cycles : 2). +125.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966815 ms (missed cycles : 2).[0m ×2 +125.90sWARNros2_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 +126.00sINFOros2-15process has finished cleanly [pid 8873] ×2 +126.20sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.20sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +126.27sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +126.27sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +126.31sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +126.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +126.43sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690187.623 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +126.66sINFOros2_control_node[2026-09-18 00:09:49.443] [info] Controller state will be published at 20 Hz. ×2 +126.66sINFOros2_control_node[2026-09-18 00:09:49.444] [info] JointVelocityController 'on_configure' succeeded. ×2 +126.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875227 ms (missed cycles : 3). +126.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875227 ms (missed cycles : 3).[0m ×2 +126.98sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +126.98sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +126.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +126.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +126.99sINFOros2-22process has finished cleanly [pid 8884] ×2 +127.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +127.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +127.07sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +127.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +127.08sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +127.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +127.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +127.35sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +127.35sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +127.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +127.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +127.37sINFOros2-18process has finished cleanly [pid 8876] ×2 +127.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +127.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +127.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +127.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +127.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +127.74sINFOros2-14process has finished cleanly [pid 8872] ×2 +127.76sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' +127.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +127.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +127.80sINFOlocal_costmap.local_costmapstart +127.82sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +127.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +127.90sWARNcontroller_serverParameter controller_server.verbose not found +127.90sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +127.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170687 ms (missed cycles : 2). +127.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170687 ms (missed cycles : 2).[0m ×2 +128.01sINFOlifecycle_manager_navigationServer controller_server connected with bond. +128.01sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +128.01sINFOsmoother_serverActivating +128.01sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +128.11sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +128.11sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +128.11sINFOplanner_serverActivating +128.11sINFOglobal_costmap.global_costmapActivating +128.11sINFOglobal_costmap.global_costmapChecking transform +128.11sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. +128.12sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 8.043ms +128.15sINFOros2_control_node[2026-09-18 00:09:50.934] [info] Controller state will be published at 20 Hz. ×2 +128.15sINFOros2_control_node[2026-09-18 00:09:50.935] [info] JointVelocityController 'on_configure' succeeded. ×2 +128.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +128.46sINFOcontroller_managerLoading controller 'velocity_force_controller' +128.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +128.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +128.48sINFOros2-21process has finished cleanly [pid 8881] ×2 +128.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +128.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +128.61sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1789690191.380997 but the earliest data is at time 1789690191.450589, when looking up transform from frame [ridgeback_base_link] to frame [map] +128.84sINFOros2_control_node[2026-09-18 00:09:51.626] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.84sINFOros2_control_node[2026-09-18 00:09:51.627] [info] Controller state will be published at 10 Hz. ×2 +128.84sINFOros2_control_node[2026-09-18 00:09:51.628] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233975 ms (missed cycles : 2). +129.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.233975 ms (missed cycles : 2).[0m ×2 +129.11sINFOglobal_costmap.global_costmapstart +129.17sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +129.17sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +129.17sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +129.17sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +129.18sINFOros2-19process has finished cleanly [pid 8877] ×2 +129.22sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +129.22sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +129.22sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +129.23sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +129.56sINFOros2-13process has finished cleanly [pid 8871] ×2 +129.58sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +129.58sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +129.58sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b +129.58sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_s526doui --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_x4vw1cj2 --params-file /tmp/launch_params_sl4xfl1b [0m ×2 +129.63sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +129.63sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +129.64sINFOplatform_velocity_controller_nav2configure successful +129.80sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +129.80sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +129.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +129.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +129.82sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.82sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +129.96sINFOros2-17process has finished cleanly [pid 8875] ×2 +130.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794919 ms (missed cycles : 3). +130.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794919 ms (missed cycles : 3).[0m ×2 +130.16sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +130.16sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +130.27sINFOlifecycle_manager_navigationServer planner_server connected with bond. +130.27sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +130.27sINFObehavior_serverActivating +130.27sINFObehavior_serverActivating spin +130.27sINFObehavior_serverActivating backup +130.27sINFObehavior_serverActivating drive_on_heading +130.27sINFObehavior_serverActivating assisted_teleop +130.27sINFObehavior_serverActivating wait +130.27sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +130.37sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +130.37sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +130.38sINFObt_navigatorActivating +130.43sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +130.54sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +130.54sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +130.54sINFOwaypoint_followerActivating +130.54sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +130.64sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +130.64sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +130.65sINFOvelocity_smootherActivating +130.65sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +130.75sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +130.75sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +130.75sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +131.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737029 ms (missed cycles : 2). +131.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737029 ms (missed cycles : 2).[0m ×2 +132.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). +132.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 +133.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). +133.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 +134.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). +134.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 +134.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+134.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +134.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +134.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +134.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +134.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 +135.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 +135.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). +135.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 +136.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 +136.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). +136.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 +136.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +136.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +136.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +136.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 +137.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +137.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +137.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +137.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). +137.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349454 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.46sINFOobjective_server_nodecaller: ×10 + 2.46sINFOobjective_server_nodetype: 0 ×10 + 2.46sINFOobjective_server_nodename: "" ×10 + 2.46sINFOobjective_server_nodeinstance_id: "" ×10 + 2.46sINFOobjective_server_node ×10 + 2.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.50sINFOmove_groupClearing octomap...[0m ×4 + 2.50sINFOmove_groupOctomap cleared.[0m ×4 + 2.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_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 + 4.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 5.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 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 | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550255 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127560 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.39sINFOobjective_server_nodecaller: ×10 + 1.39sINFOobjective_server_nodetype: 0 ×10 + 1.39sINFOobjective_server_nodename: "" ×10 + 1.39sINFOobjective_server_nodeinstance_id: "" ×10 + 1.39sINFOobjective_server_node ×10 + 1.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690197.71072721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.43sINFOmove_groupClearing octomap...[0m ×4 + 1.43sINFOmove_groupOctomap cleared.[0m ×4 + 1.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690197.73094130 seconds ×3 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690198.31198406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690198.32209778 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528530 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690198.89305902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690199.04360104 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143455 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690199.64720678 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690199.70734358 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690200.27563930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489059 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328273 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403550 ms (missed cycles : 3).[0m ×2 | ||||