80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.6s
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 Look at Plane | move_to_look_at_plane.xml | 1.2s | 30 errors · 36 warnings · 272 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.11sWARNobjective_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 + 1.12sERRORobjective_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 + 1.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.76sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 5.30sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.1s | 30 errors · 36 warnings · 275 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.80sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 2.81sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.1s | 30 errors · 36 warnings · 218 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.50sWARNobjective_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 + 0.51sERRORobjective_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 + 0.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466684 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466684 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.1s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731867 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731867 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720609 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720609 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323559 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323559 ms (missed cycles : 2).[0m ×2 + 2.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.76sINFOobjective_server_nodecaller: ×4 + 2.76sINFOobjective_server_nodetype: 0 ×4 + 2.76sINFOobjective_server_nodename: "" ×4 + 2.76sINFOobjective_server_nodeinstance_id: "" ×4 + 2.76sINFOobjective_server_node ×4 + 2.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690447.31383204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591279 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591279 ms (missed cycles : 2).[0m ×2 + 3.33sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 3.33sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 3.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690447.85399318 seconds ×3 + 3.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.88sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.91sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690448.43422294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953626 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953626 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991695 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991695 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407138 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407138 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.1s | 24 errors · 33 warnings · 273 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 0.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.83sINFOros2_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 3.006550 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.35sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.35sINFOobjective_server_nodecaller: ×10 + 3.35sINFOobjective_server_nodetype: 0 ×10 + 3.35sINFOobjective_server_nodename: "" ×10 + 3.35sINFOobjective_server_nodeinstance_id: "" ×10 + 3.35sINFOobjective_server_node ×10 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.89sWARNobjective_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 + 3.91sERRORobjective_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 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.56sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.87sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 8.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.04sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 8.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.1s | 12 errors · 27 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.92sINFOobjective_server_nodecaller: ×8 + 2.92sINFOobjective_server_nodetype: 0 ×8 + 2.92sINFOobjective_server_nodename: "" ×8 + 2.92sINFOobjective_server_nodeinstance_id: "" ×8 + 2.92sINFOobjective_server_node ×8 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2).[0m ×2 + 6.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690458.59746981 seconds ×3 + 7.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.38sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690459.16405988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.1s | 12 errors · 27 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.91sINFOobjective_server_nodecaller: ×8 + 1.91sINFOobjective_server_nodetype: 0 ×8 + 1.91sINFOobjective_server_nodename: "" ×8 + 1.91sINFOobjective_server_nodeinstance_id: "" ×8 + 1.91sINFOobjective_server_node ×8 + 1.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.47sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.06sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 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 2.709889 ms (missed cycles : 2). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 3.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 4.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.14sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.17sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.17sINFOmove_groupClearing octomap...[0m ×2 + 4.17sINFOmove_groupOctomap cleared.[0m ×2 + 4.18sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.18sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690458.59746981 seconds ×3 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690459.16405988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2).[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690459.70420265 seconds ×3 + 7.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 138 warnings · 396 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.60sINFOobjective_server_nodecaller: ×12 + 0.60sINFOobjective_server_nodetype: 0 ×12 + 0.60sINFOobjective_server_nodename: "" ×12 + 0.60sINFOobjective_server_nodeinstance_id: "" ×12 + 0.60sINFOobjective_server_node ×12 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845074 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845074 ms (missed cycles : 2).[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179977 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179977 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532968 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532968 ms (missed cycles : 2).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539451 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539451 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509642 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509642 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779407 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779407 ms (missed cycles : 2).[0m ×2 + 13.58sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 2.740ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942683 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942683 ms (missed cycles : 2).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685965 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685965 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459327 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459327 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700716 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700716 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040725 ms (missed cycles : 2). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040725 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939925 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939925 ms (missed cycles : 2).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222636 ms (missed cycles : 2). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222636 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106909 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106909 ms (missed cycles : 2).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885886 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885886 ms (missed cycles : 2).[0m ×2 + 23.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820346 ms (missed cycles : 2). + 23.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820346 ms (missed cycles : 2).[0m ×2 + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170263 ms (missed cycles : 2). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170263 ms (missed cycles : 2).[0m ×2 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788253 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788253 ms (missed cycles : 2).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923583 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923583 ms (missed cycles : 2).[0m ×2 + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875871 ms (missed cycles : 2). + 27.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875871 ms (missed cycles : 2).[0m ×2 + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125798 ms (missed cycles : 2). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125798 ms (missed cycles : 2).[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884242 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884242 ms (missed cycles : 2).[0m ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740850 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740850 ms (missed cycles : 2).[0m ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900409 ms (missed cycles : 2). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900409 ms (missed cycles : 2).[0m ×2 + 33.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205235 ms (missed cycles : 2). + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205235 ms (missed cycles : 2).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313966 ms (missed cycles : 2).[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002118 ms (missed cycles : 2). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002118 ms (missed cycles : 2).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369606 ms (missed cycles : 3). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369606 ms (missed cycles : 3).[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845817 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845817 ms (missed cycles : 2).[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356847 ms (missed cycles : 2). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356847 ms (missed cycles : 2).[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917880 ms (missed cycles : 2). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917880 ms (missed cycles : 2).[0m ×2 + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914031 ms (missed cycles : 2). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914031 ms (missed cycles : 2).[0m ×2 + 41.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817528 ms (missed cycles : 2). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817528 ms (missed cycles : 2).[0m ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259896 ms (missed cycles : 2). + 43.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259896 ms (missed cycles : 2).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2).[0m ×2 + 46.12sINFOjoint_trajectory_controllerGoal reached, success! + 46.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690425.22790623 seconds ×3 + 46.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2).[0m ×2 + 46.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.68sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690425.79676485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.49sINFOobjective_server_nodeFound path in 0 iterations (1.619e-05 s). ×2 + 47.53sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 47.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2). + 47.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2).[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3).[0m ×2 + 49.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 49.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 49.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2).[0m ×2 + 50.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 108 errors · 33 warnings · 532 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 0.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 0.56sWARNobjective_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. ×3 + 0.56sERRORobjective_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 + 0.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 0.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.14sINFOmove_groupClearing octomap...[0m ×2 + 1.14sINFOmove_groupOctomap cleared.[0m ×2 + 1.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 1.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690458.59746981 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690459.16405988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690459.70420265 seconds ×3 + 4.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966070 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966070 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204215 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204215 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532292 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532292 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197161 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197161 ms (missed cycles : 2).[0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275752 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275752 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762481 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762481 ms (missed cycles : 2).[0m ×2 + 10.24sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.25sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORweb_video_auth_proxy-37process has died [pid 8892, 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 + 10.25sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.26sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORweb_bridge_auth_proxy-36process has died [pid 8889, 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 + 10.26sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.29sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.29sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.29sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.30sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.31sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.32sINFOvideo_server-35process has finished cleanly [pid 8888] ×2 + 10.32sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.33sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.33sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.34sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.35sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.36sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.37sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.38sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.39sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.39sINFOcontroller_managerShutdown request received.... + 10.39sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.39sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.39sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.39sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.39sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.39sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.39sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.39sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.39sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.39sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.39sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.39sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.39sINFOcontroller_managerShutting down the controller manager. + 10.40sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.41sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.42sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.43sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.44sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.44sERRORmove_group-23process has died [pid 8841, 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_y9rckfby --params-file /tmp/launch_params_4eq3q688 --params-file /tmp/launch_params_9yfu6gjc --params-file /tmp/launch_params_zgr64ve6 --params-file /tmp/launch_params_g1v9np_9 --params-file /tmp/launch_params_wowisoee']. ×2 + 10.44sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.45sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.46sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.47sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.47sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.47sINFOmap_serverDeactivating + 10.47sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.47sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.47sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.47sINFOcontroller_serverDeactivating + 10.47sINFOlocal_costmap.local_costmapDeactivating + 10.47sINFOvideo_server2026/09/18 00:14:26 INF shutting down gracefully ×2 + 10.47sINFOvideo_server2026/09/18 00:14:26 INF [WebRTC] closing ×2 + 10.47sINFOvideo_server2026/09/18 00:14:26 INF [RTSP] closing ×2 + 10.47sINFOvideo_server2026/09/18 00:14:26 INF waiting for running hooks ×2 + 10.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.48sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.48sINFOmap_serverCleaning up + 10.48sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.48sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.48sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.48sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.48sERRORmove_groupStack trace (most recent call last) in thread 9482: ×2 + 10.48sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.48sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.48sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.48sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.48sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.48sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.48sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc5125aa63, in __clone ×2 + 10.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc511cdaa3, in ×2 + 10.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc5145fdb3, in ×2 + 10.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fdc51bc3b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc517f1620, in rclcpp::Rate::sleep() ×2 + 10.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc51733d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc516f5087, in ×2 + 10.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc5142e390, in __cxa_throw ×2 + 10.48sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc51418a54, in std::terminate() ×2 + 10.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc5142e0d9, in ×2 + 10.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fdc51418ff4, in ×2 + 10.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc511598fe, in abort ×2 + 10.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc5117627d, in raise ×2 + 10.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc511cfb2c, in pthread_kill ×2 + 10.48sERRORmove_groupAborted (Signal sent by tkill() 8841 0) ×2 + 10.48sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.48sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.48sINFOodom_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 + 10.48sINFOodom_qos_relay.pymain() ×2 + 10.48sINFOodom_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 + 10.48sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.48sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.48sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.49sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.49sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.49sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.49sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.49sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.49sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.49sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.49sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.49sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.49sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.50sERRORamclThe bond connection to the lifecycle manager has been broken + 10.54sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.55sINFOcontroller_serverCleaning up + 10.55sINFOlocal_costmap.local_costmapCleaning up + 10.59sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.59sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.59sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.59sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.59sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.59sINFOvelocity_smootherDeactivating + 10.59sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.60sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.60sINFOsmoother_serverDeactivating + 10.60sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.61sINFOsmoother_serverCleaning up + 10.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.61sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.61sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.62sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.62sINFOplanner_serverDeactivating + 10.62sINFOglobal_costmap.global_costmapDeactivating + 10.70sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.70sINFOwaypoint_followerDeactivating + 10.70sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.76sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.76sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.77sINFOplanner_serverCleaning up + 10.78sINFOglobal_costmap.global_costmapCleaning up + 10.79sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.79sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.82sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.82sINFObt_navigatorDeactivating + 10.82sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.83sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.83sINFObehavior_serverDeactivating + 10.83sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.84sINFObehavior_serverCleaning up + 10.84sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.84sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.84sINFOwaypoint_followerCleaning up + 10.85sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.85sINFOvelocity_smootherCleaning up + 10.85sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.93sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 10.94sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.94sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.94sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.94sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.94sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.94sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.94sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.96sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.96sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.96sINFObt_navigatorCleaning up + 11.14sINFObt_navigatorCompleted Cleaning up + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.14sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.14sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.14sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.14sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.14sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.14sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.35sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8887] ×2 + 11.35sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.40sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8869] ×2 + 11.41sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8868] ×2 + 11.42sINFOui_teleop_bridge-32process has finished cleanly [pid 8874] ×2 + 11.43sINFOexecute_objective_bridge-31process has finished cleanly [pid 8873] ×2 + 11.44sINFOparameter_manager_node-24process has finished cleanly [pid 8842] ×2 + 11.45sERRORcomponent_container_isolated-1process has died [pid 8712, 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_7ahyq19y --params-file /tmp/launch_params_e8vgo0s6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.45sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8813] ×2 + 11.46sINFOwaypoint_manager_node-25process has finished cleanly [pid 8867] ×2 + 11.46sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8720] ×2 + 11.47sINFOstatic_transform_publisher-8process has finished cleanly [pid 8719] ×2 + 11.47sINFOstatic_transform_publisher-7process has finished cleanly [pid 8718] ×2 + 11.48sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.48sINFOlidar_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 + 11.48sINFOlidar_flattener.pymain() ×2 + 11.48sINFOlidar_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 + 11.48sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.48sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.48sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.48sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.48sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.48sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.48sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.48sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.48sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.48sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.48sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.48sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.48sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.48sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.49sINFOstatic_transform_publisher-4process has finished cleanly [pid 8715] ×2 + 11.50sINFOcomponent_container_mt-30process has finished cleanly [pid 8872] ×2 + 11.50sINFOstatic_transform_publisher-3process has finished cleanly [pid 8714] ×2 + 11.51sINFOobjective_server_node[2026-09-18 00:14:27.305] [moveit_pro_license] [info] ×2 + 11.51sINFOobjective_server_node************************************************* ×4 + 11.51sINFOobjective_server_node* MoveIt Pro License ×2 + 11.51sINFOobjective_server_node* Application has successfully terminated ×2 + 11.52sERRORlidar_flattener.py-6process has died [pid 8717, 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_0zvtf1vv']. ×2 + 11.53sERRORodom_qos_relay.py-5process has died [pid 8716, 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 + 11.57sINFOobjective_server_node_main-28process has finished cleanly [pid 8870] ×2 + 11.57sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.82sERRORcomponent_container_isolated-2process has died [pid 8713, 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_7ahyq19y --params-file /tmp/launch_params_w3ryz1yp -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.54sINFOcomponent_container_mt-29process has finished cleanly [pid 8871] ×2 + 13.04sINFOweb_bridge-33process has finished cleanly [pid 8875] ×2 + 13.04sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 13.15sINFOros2_control_node-11process has finished cleanly [pid 8814] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 30 errors · 66 warnings · 299 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.00sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.00sINFOobjective_server_nodecaller: ×12 + 0.00sINFOobjective_server_nodetype: 0 ×12 + 0.00sINFOobjective_server_nodename: "" ×12 + 0.00sINFOobjective_server_nodeinstance_id: "" ×12 + 0.00sINFOobjective_server_node ×12 + 0.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×18 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.60sWARNobjective_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 + 0.61sERRORobjective_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 + 0.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 0.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 1.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.16sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.54sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466684 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466684 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224168 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224168 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247225 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247225 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006104 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006104 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122835 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122835 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731867 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731867 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720609 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720609 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323559 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323559 ms (missed cycles : 2).[0m ×2 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690447.31383204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591279 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591279 ms (missed cycles : 2).[0m ×2 + 15.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690447.85399318 seconds ×3 + 15.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.69sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.71sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690448.43422294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953626 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953626 ms (missed cycles : 2).[0m ×2 + 16.02sINFOjoint_trajectory_controllerReceived new action goal + 16.02sINFOjoint_trajectory_controllerAccepted new action goal + 16.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991695 ms (missed cycles : 2). + 16.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991695 ms (missed cycles : 2).[0m ×2 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407138 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407138 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.3s | 18 errors · 45 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720609 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720609 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323559 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323559 ms (missed cycles : 2).[0m ×2 + 1.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.74sINFOobjective_server_nodecaller: ×10 + 1.74sINFOobjective_server_nodetype: 0 ×10 + 1.74sINFOobjective_server_nodename: "" ×10 + 1.74sINFOobjective_server_nodeinstance_id: "" ×10 + 1.74sINFOobjective_server_node ×10 + 1.78sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690447.31383204 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591279 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591279 ms (missed cycles : 2).[0m ×2 + 2.31sWARNobjective_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. ×9 + 2.32sERRORobjective_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. ×9 + 2.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690447.85399318 seconds ×3 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690448.43422294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953626 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953626 ms (missed cycles : 2).[0m ×2 + 3.20sINFOjoint_trajectory_controllerReceived new action goal + 3.20sINFOjoint_trajectory_controllerAccepted new action goal + 3.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991695 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991695 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407138 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407138 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 8.55sINFOjoint_trajectory_controllerGoal reached, success! + 8.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 9.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.15sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.17sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 9.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 10.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.26sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 10.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 11.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 11.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 11.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 11.40sINFOmove_groupClearing octomap...[0m ×2 + 11.40sINFOmove_groupOctomap cleared.[0m ×2 + 11.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 11.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 5.8s | 18 errors · 42 warnings · 296 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2).[0m ×2 + 1.83sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.83sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690425.22790623 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.39sINFOobjective_server_nodecaller: ×10 + 2.39sINFOobjective_server_nodetype: 0 ×10 + 2.39sINFOobjective_server_nodename: "" ×10 + 2.39sINFOobjective_server_nodeinstance_id: "" ×10 + 2.39sINFOobjective_server_node ×10 + 2.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690425.79676485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (1.619e-05 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.26sINFOjoint_trajectory_controllerReceived new action goal + 3.26sINFOjoint_trajectory_controllerAccepted new action goal + 3.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 5.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 5.68sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 6.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 7.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 8.02sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 8.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.15sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.70sWARNobjective_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 + 8.71sERRORobjective_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 + 8.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 9.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 9.37sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 10.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.50sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 11.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 11.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.2s | 12 errors · 30 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 0.21sINFOjoint_trajectory_controllerGoal reached, success! + 0.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.80sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.80sINFOobjective_server_nodecaller: ×8 + 0.80sINFOobjective_server_nodetype: 0 ×8 + 0.80sINFOobjective_server_nodename: "" ×8 + 0.80sINFOobjective_server_nodeinstance_id: "" ×8 + 0.80sINFOobjective_server_node ×8 + 0.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 1.35sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.36sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.07sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690458.59746981 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690459.16405988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690459.70420265 seconds ×3 + 6.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966070 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966070 ms (missed cycles : 2).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204215 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204215 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2).[0m ×2 + 1.83sINFOjoint_trajectory_controllerGoal reached, success! + 1.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690425.22790623 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.39sINFOobjective_server_nodecaller: ×2 + 2.39sINFOobjective_server_nodetype: 0 ×2 + 2.39sINFOobjective_server_nodename: "" ×2 + 2.39sINFOobjective_server_nodeinstance_id: "" ×2 + 2.39sINFOobjective_server_node ×2 + 2.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690425.79676485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (1.619e-05 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOjoint_trajectory_controllerReceived new action goal + 3.26sINFOjoint_trajectory_controllerAccepted new action goal + 3.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 5.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 5.68sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878901 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850981 ms (missed cycles : 2).[0m ×2 + 1.83sINFOjoint_trajectory_controllerGoal reached, success! + 1.83sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690425.22790623 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 1.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 1.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713221 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.39sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.39sINFOobjective_server_nodecaller: ×2 + 2.39sINFOobjective_server_nodetype: 0 ×2 + 2.39sINFOobjective_server_nodename: "" ×2 + 2.39sINFOobjective_server_nodeinstance_id: "" ×2 + 2.39sINFOobjective_server_node ×2 + 2.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690425.79676485 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeFound path in 0 iterations (1.619e-05 s). ×2 + 3.24sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOjoint_trajectory_controllerReceived new action goal + 3.26sINFOjoint_trajectory_controllerAccepted new action goal + 3.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093004 ms (missed cycles : 2).[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445547 ms (missed cycles : 3).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 5.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 5.68sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 errors · 27 warnings · 226 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 0.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370648 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.83sINFOros2_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 3.006550 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 3.22sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.35sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.35sINFOobjective_server_nodecaller: ×8 + 3.35sINFOobjective_server_nodetype: 0 ×8 + 3.35sINFOobjective_server_nodename: "" ×8 + 3.35sINFOobjective_server_nodeinstance_id: "" ×8 + 3.35sINFOobjective_server_node ×8 + 3.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 3.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.56sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.87sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.90sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 errors · 30 warnings · 269 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.80sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.81sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 errors · 30 warnings · 269 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.80sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.81sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 errors · 30 warnings · 269 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.80sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.81sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 24 errors · 30 warnings · 269 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.80sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.81sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 errors · 30 warnings · 269 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 0.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203000 ms (missed cycles : 2).[0m ×2 + 1.69sINFOjoint_trajectory_controllerGoal reached, success! + 1.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690430.99689794 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006550 ms (missed cycles : 2).[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 2.463ms + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.25sINFOobjective_server_nodecaller: ×10 + 2.25sINFOobjective_server_nodetype: 0 ×10 + 2.25sINFOobjective_server_nodename: "" ×10 + 2.25sINFOobjective_server_nodeinstance_id: "" ×10 + 2.25sINFOobjective_server_node ×10 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690431.56085539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.80sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.81sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 33 warnings · 218 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.50sWARNobjective_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 + 0.51sERRORobjective_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 + 0.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 33 warnings · 218 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.50sWARNobjective_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 + 0.51sERRORobjective_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 + 0.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 33 warnings · 218 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.50sWARNobjective_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 + 0.51sERRORobjective_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 + 0.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690432.09106040 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145113 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.14sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.14sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 1.14sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.14sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.14sINFOobjective_server_nodecaller: ×8 + 1.14sINFOobjective_server_nodetype: 0 ×8 + 1.14sINFOobjective_server_nodename: "" ×8 + 1.14sINFOobjective_server_nodeinstance_id: "" ×8 + 1.14sINFOobjective_server_node ×8 + 1.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690432.74985194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690433.33000350 seconds ×3 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005369 ms (missed cycles : 2).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690433.91060615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690434.50077939 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690435.08981752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690435.66999125 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654524 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.68sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690436.26315975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690436.78336978 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651171 ms (missed cycles : 2).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374689 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 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 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 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 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140035 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157057 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 2.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.40sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 3.48sWARNobjective_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 + 3.48sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.04sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.08sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 4.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.18sINFOmove_groupClearing octomap...[0m ×2 + 5.18sINFOmove_groupOctomap cleared.[0m ×2 + 5.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421007 ms (missed cycles : 2).[0m ×2 + 0.21sINFOjoint_trajectory_controllerGoal reached, success! + 0.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690454.14436865 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.80sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.80sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.80sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.80sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.80sINFOobjective_server_nodecaller: ×8 + 0.80sINFOobjective_server_nodetype: 0 ×8 + 0.80sINFOobjective_server_nodename: "" ×8 + 0.80sINFOobjective_server_nodeinstance_id: "" ×8 + 0.80sINFOobjective_server_node ×8 + 0.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690454.71257734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959287 ms (missed cycles : 2).[0m ×2 + 1.35sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.36sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690455.24274731 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.92sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690455.83444524 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709889 ms (missed cycles : 2).[0m ×2 + 2.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690456.35463262 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690456.93734097 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.06sINFOmove_groupClearing octomap...[0m ×2 + 3.06sINFOmove_groupOctomap cleared.[0m ×2 + 3.07sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.07sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797629 ms (missed cycles : 2).[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368139 ms (missed cycles : 2).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690458.59746981 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690459.16405988 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713317 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690459.70420265 seconds ×3 + 6.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 27.8s | 77 errors · 519 warnings · 2555 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/2026-09-18-00-10-41-297843-2d32c0e70811-7546 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 3.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 3.94sINFOros2_control_node-11process started with pid [7700] + 3.95sINFOmove_group-23process started with pid [7712] + 3.95sINFOparameter_manager_node-24process started with pid [7713] + 3.95sINFOwaypoint_manager_node-25process started with pid [7761] + 3.95sINFOmove_joint_resampler_node-26process started with pid [7764] + 3.95sINFOmove_end_effector_resampler_node-27process started with pid [7766] + 3.95sINFOobjective_server_node_main-28process started with pid [7767] + 3.95sINFOcomponent_container_mt-29process started with pid [7768] + 3.95sINFOcomponent_container_mt-30process started with pid [7775] + 3.95sINFOexecute_objective_bridge-31process started with pid [7776] + 3.95sINFOui_teleop_bridge-32process started with pid [7781] + 3.95sINFOweb_bridge-33process started with pid [7782] + 3.96sINFOtf2_web_republisher_node-34process started with pid [7783] + 3.96sINFOvideo_server-35process started with pid [7784] + 3.96sINFOweb_bridge_auth_proxy-36process started with pid [7785] + 3.96sINFOweb_video_auth_proxy-37process started with pid [7788] + 3.96sINFOcomponent_container_isolated-1process started with pid [7596] + 3.96sINFOcomponent_container_isolated-2process started with pid [7597] + 3.96sINFOstatic_transform_publisher-3process started with pid [7598] + 3.96sINFOstatic_transform_publisher-4process started with pid [7599] + 3.96sINFOodom_qos_relay.py-5process started with pid [7600] + 3.96sINFOlidar_flattener.py-6process started with pid [7601] + 3.96sINFOstatic_transform_publisher-7process started with pid [7602] + 3.96sINFOstatic_transform_publisher-8process started with pid [7603] + 3.96sINFOscan_to_scan_filter_chain-9process started with pid [7604] + 3.96sINFOscan_to_scan_filter_chain-10process started with pid [7699] + 3.96sINFOros2-12process started with pid [7701] + 3.96sINFOros2-13process started with pid [7702] + 3.96sINFOros2-14process started with pid [7703] + 3.96sINFOros2-15process started with pid [7704] + 3.96sINFOros2-16process started with pid [7705] + 3.96sINFOros2-17process started with pid [7706] + 3.96sINFOros2-18process started with pid [7707] + 3.96sINFOros2-19process started with pid [7708] + 3.96sINFOros2-20process started with pid [7709] + 3.96sINFOros2-21process started with pid [7710] + 3.96sINFOros2-22process started with pid [7711] + 3.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 3.99sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 3.99sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 3.99sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 3.99sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 3.99sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 3.99sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 4.00sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.00sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.00sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.00sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.00sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.00sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 4.01sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 4.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 4.04sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 4.05sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 4.06sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 4.06sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 4.06sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417871 ms (missed cycles : 4).[0m + 4.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 4.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 4.15sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 4.18sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 4.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 4.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 4.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 4.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 4.28sINFOvideo_server2026/09/18 00:10:46 INF MediaMTX v1.20.1, linux, amd64 + 4.28sINFOvideo_server2026/09/18 00:10:46 INF configuration loaded from /tmp/moveit-webrtc-0gu1y5c0/mediamtx.yml + 4.28sINFOvideo_server2026/09/18 00:10:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 4.28sINFOvideo_server2026/09/18 00:10:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 4.29sINFOcomponent_container_mtRobot initialized[0m ×3 + 4.29sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 4.29sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 4.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 4.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 4.34sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 4.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 4.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 4.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 4.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 4.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 4.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 4.48sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 4.48sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 4.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 4.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 4.62sINFOmove_groupLoaded robot model in 0.409308 seconds[0m + 4.62sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 4.62sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 4.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 4.69sWARNscan_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 + 4.86sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 5.15sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.15sWARNmove_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 + 5.33sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 5.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 5.36sINFOros2_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 + 5.36sINFOros2_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 + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733955 ms (missed cycles : 3).[0m + 5.51sINFOmove_group[2026-09-18 00:10:48.126] [moveit_pro_license] [info] + 5.51sINFOmove_group************************************************* ×6 + 5.51sINFOmove_group* MoveIt Pro License ×3 + 5.51sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.58sINFOwaypoint_manager_nodeLoaded robot model in 0.305695 seconds[0m + 5.58sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 5.58sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.82sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 5.82sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 5.82sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 5.82sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 5.82sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 5.82sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 5.82sINFOmove_groupStarting planning scene monitor[0m ×3 + 5.82sINFOmove_groupListening to '/planning_scene'[0m ×3 + 5.82sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 5.83sINFOmove_groupListening to 'collision_object'[0m ×3 + 5.83sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.87sWARNwaypoint_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 + 5.87sWARNwaypoint_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 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.88sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.89sWARNwaypoint_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 + 5.89sWARNwaypoint_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 + 5.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.89sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 5.98sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 5.98sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 5.98sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 5.98sWARNros2_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 + 5.98sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 5.98sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 5.98sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 5.98sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 5.98sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 5.98sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 5.98sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 5.98sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 5.98sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 5.98sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 5.98sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 5.98sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 5.98sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 5.98sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 5.98sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 5.98sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 5.98sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 5.98sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 5.98sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 5.98sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 6.08sINFOwaypoint_manager_node[2026-09-18 00:10:48.701] [moveit_pro_license] [info] + 6.08sINFOwaypoint_manager_node************************************************* ×6 + 6.08sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 6.08sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.12sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 6.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 6.13sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 6.21sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 6.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 6.22sINFOros2_control_nodeconfigure successful[0m ×9 + 6.24sINFOros2_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 + 6.24sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 6.24sWARNros2_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 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 6.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 6.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 6.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 6.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 6.41sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 6.42sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 6.42sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 6.43sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 6.43sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 6.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 6.43sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 6.43sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 6.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 6.43sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 6.44sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 6.44sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 6.44sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 6.44sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 6.44sINFOcomponent_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 + 6.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 6.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441536 ms (missed cycles : 3).[0m + 6.55sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 6.55sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 6.55sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 6.58sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 6.58sINFOros2-17process has finished cleanly [pid 7706] + 6.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 6.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 6.61sWARNcomponent_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 + 6.61sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 6.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 6.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 6.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 6.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 6.63sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 6.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 6.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 6.67sINFOcomponent_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 + 6.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 6.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 6.70sINFOobjective_server_node[2026-09-18 00:10:49.319] [moveit_pro_license] [info] + 6.70sINFOobjective_server_node************************************************* ×8 + 6.70sINFOobjective_server_node* MoveIt Pro License ×4 + 6.70sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.77sINFOobjective_server_nodeLoaded robot model in 0.0304315 seconds[0m + 6.77sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 6.77sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.85sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 6.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 6.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 6.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 6.89sINFOcomponent_container_mtLoaded robot model in 0.285149 seconds[0m + 6.90sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 6.90sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.91sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 6.91sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 6.95sINFOros2-16process has finished cleanly [pid 7705] + 7.00sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 7.00sWARNobjective_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 + 7.00sWARNobjective_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 + 7.00sWARNobjective_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 + 7.01sWARNobjective_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 + 7.01sWARNobjective_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 + 7.01sWARNobjective_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 + 7.01sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 7.01sWARNobjective_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 + 7.01sWARNobjective_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 + 7.01sWARNobjective_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 + 7.01sWARNobjective_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 + 7.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 7.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 7.07sINFOobjective_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 + 7.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 7.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 7.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 7.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 7.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 7.14sWARNcomponent_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 + 7.14sWARNcomponent_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 + 7.14sWARNcomponent_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 + 7.14sWARNcomponent_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 + 7.14sWARNcomponent_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 + 7.14sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.15sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sWARNcomponent_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 + 7.16sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 7.24sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 7.24sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 7.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 7.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 7.27sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 7.27sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 7.27sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 7.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 7.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 7.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 7.31sINFOros2_control_node[2026-09-18 00:10:49.930] [info] Controller state will be published at 20 Hz. + 7.31sINFOros2_control_node[2026-09-18 00:10:49.931] [info] JointVelocityController 'on_configure' succeeded. + 7.35sINFOmove_group ×12 + 7.35sINFOmove_group******************************************************** ×6 + 7.35sINFOmove_group* MoveGroup using: ×3 + 7.35sINFOmove_group* - apply_planning_scene_service ×3 + 7.35sINFOmove_group* - clear_octomap_service ×3 + 7.35sINFOmove_group* - get_group_urdf ×3 + 7.35sINFOmove_group* - load_geometry_from_file ×3 + 7.35sINFOmove_group* - get_planning_scene_service ×3 + 7.35sINFOmove_group* - kinematics_service ×3 + 7.35sINFOmove_group* - save_geometry_to_file ×3 + 7.35sINFOmove_group* - GetPlanningGroups ×3 + 7.35sINFOmove_group* - URDFPlanningSceneCapability ×3 + 7.35sINFOmove_group[0m ×3 + 7.35sINFOmove_group[92mYou can start planning now![0m ×3 + 7.43sWARNobjective_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 + 7.45sINFOcomponent_container_mt[2026-09-18 00:10:50.071] [moveit_pro_license] [info] + 7.45sINFOcomponent_container_mt************************************************* ×6 + 7.45sINFOcomponent_container_mt* MoveIt Pro License ×3 + 7.45sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963709 ms (missed cycles : 2).[0m + 7.63sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 7.63sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 7.65sINFOros2-22process has finished cleanly [pid 7711] + 7.67sWARNros2_control_nodeCamera render tick took 0.76 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 + 7.68sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 7.69sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 7.69sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 7.73sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 7.73sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 7.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 7.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 7.74sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 7.74sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 7.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 7.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 7.97sINFOros2_control_node[2026-09-18 00:10:50.591] [warning] No force/torque sensor configured. The VFC will ignore force references. + 7.97sINFOros2_control_node[2026-09-18 00:10:50.593] [info] Controller state will be published at 10 Hz. + 7.97sINFOros2_control_node[2026-09-18 00:10:50.594] [info] VelocityForceController 'on_configure' succeeded. + 8.28sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 8.28sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 8.30sINFOros2-20process has finished cleanly [pid 7709] + 8.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 8.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037624 ms (missed cycles : 2).[0m + 8.60sINFOros2_control_node[2026-09-18 00:10:51.224] [warning] No force/torque sensor configured. The VFC will ignore force references. + 8.61sINFOros2_control_node[2026-09-18 00:10:51.226] [info] Controller state will be published at 10 Hz. + 8.61sINFOros2_control_node[2026-09-18 00:10:51.227] [info] VelocityForceController 'on_configure' succeeded. + 8.74sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 8.91sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.91sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 8.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 8.94sINFOros2-19process has finished cleanly [pid 7708] + 8.97sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 8.97sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 8.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 8.98sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 9.27sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 9.27sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 9.27sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 9.30sINFOros2-15process has finished cleanly [pid 7704] + 9.32sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 9.32sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.53sINFOros2_control_node[2026-09-18 00:10:52.150] [info] Controller state will be published at 20 Hz. + 9.53sINFOros2_control_node[2026-09-18 00:10:52.151] [info] JointVelocityController 'on_configure' succeeded. + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591346 ms (missed cycles : 3).[0m + 9.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 9.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 9.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 9.88sINFOros2-21process has finished cleanly [pid 7710] + 9.95sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 9.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 9.95sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 9.95sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 9.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 9.95sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 9.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 9.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 10.25sINFOros2-18process has finished cleanly [pid 7707] + 10.25sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 10.25sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 10.26sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 10.30sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 10.30sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 10.30sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 10.31sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 10.66sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 10.66sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 10.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 10.68sINFOros2-13process has finished cleanly [pid 7702] + 10.71sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 10.71sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 10.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 10.73sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 10.73sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477877 ms (missed cycles : 2).[0m + 11.08sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 11.08sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 11.08sINFOros2-14process has finished cleanly [pid 7703] + 11.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6mhcm9og --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_ca271j0p --params-file /tmp/launch_params_5dzt8ymi [0m + 11.13sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.14sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 11.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 11.15sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 11.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 11.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 11.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 11.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 11.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 11.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 11.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 11.45sINFOros2-12process has finished cleanly [pid 7701] + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521966 ms (missed cycles : 2).[0m + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721529 ms (missed cycles : 2).[0m + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703021 ms (missed cycles : 2).[0m + 16.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864156 ms (missed cycles : 2).[0m + 16.41sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 16.41sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 16.41sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 16.41sINFOobjective_server_nodeparameter_overrides: [] ×27 + 16.41sINFOobjective_server_nodecaller: ×27 + 16.41sINFOobjective_server_nodetype: 0 ×27 + 16.41sINFOobjective_server_nodename: "" ×27 + 16.41sINFOobjective_server_nodeinstance_id: "" ×27 + 16.41sINFOobjective_server_node ×27 + 16.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690259.05725455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 16.45sINFOmove_groupClearing octomap...[0m ×7 + 16.45sINFOmove_groupOctomap cleared.[0m ×7 + 16.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 16.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690259.07745624 seconds + 17.00sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 17.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690259.64189315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 17.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690259.65202332 seconds + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060117 ms (missed cycles : 2).[0m + 17.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 17.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690260.21704936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 17.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690260.36758733 seconds + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759631 ms (missed cycles : 2).[0m + 18.30sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 18.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690260.94991255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.34sINFOobjective_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 + 18.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 18.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 18.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 18.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690261.02004385 seconds + 18.94sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 18.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690261.59145474 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 18.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 18.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 18.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958894 ms (missed cycles : 2).[0m + 20.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×4 + 20.26sINFOros2_control_nodeReceived new action goal[0m ×3 + 20.26sINFOros2_control_nodeAccepted new action goal[0m ×3 + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798530 ms (missed cycles : 2).[0m + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167618 ms (missed cycles : 2).[0m + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011976 ms (missed cycles : 2).[0m + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709220 ms (missed cycles : 2).[0m + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107139 ms (missed cycles : 2).[0m + 26.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454053 ms (missed cycles : 3).[0m + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284785 ms (missed cycles : 2).[0m + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268710 ms (missed cycles : 2).[0m + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816237 ms (missed cycles : 2).[0m + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916083 ms (missed cycles : 2).[0m + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161152 ms (missed cycles : 2).[0m + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824861 ms (missed cycles : 2).[0m + 33.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412551 ms (missed cycles : 2).[0m + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746843 ms (missed cycles : 3).[0m + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704771 ms (missed cycles : 2).[0m + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254679 ms (missed cycles : 2).[0m + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448353 ms (missed cycles : 3).[0m + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815405 ms (missed cycles : 2).[0m + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044066 ms (missed cycles : 2).[0m + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847378 ms (missed cycles : 2).[0m + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545449 ms (missed cycles : 2).[0m + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.290795 ms (missed cycles : 2).[0m + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686700 ms (missed cycles : 2).[0m + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831097 ms (missed cycles : 2).[0m + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105220 ms (missed cycles : 2).[0m + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903435 ms (missed cycles : 2).[0m + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670396 ms (missed cycles : 3).[0m + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940774 ms (missed cycles : 2).[0m + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500489 ms (missed cycles : 3).[0m + 52.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286195 ms (missed cycles : 2).[0m + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710053 ms (missed cycles : 2).[0m + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679235 ms (missed cycles : 2).[0m + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559446 ms (missed cycles : 2).[0m + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682000 ms (missed cycles : 2).[0m + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760056 ms (missed cycles : 2).[0m + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076268 ms (missed cycles : 2).[0m + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565405 ms (missed cycles : 2).[0m + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805182 ms (missed cycles : 2).[0m + 61.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749609 ms (missed cycles : 2).[0m + 61.90sINFOros2_control_nodeGoal reached, success![0m ×3 + 61.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690304.53902650 seconds + 61.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 61.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 61.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 62.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 62.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690305.10452056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594683 ms (missed cycles : 3).[0m + 63.24sINFOobjective_server_nodeFound path in 0 iterations (1.736e-05 s). + 63.28sINFOobjective_server_nodePath shortcutter: [X________________________X] + 63.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 64.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881626 ms (missed cycles : 2).[0m + 65.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743652 ms (missed cycles : 2).[0m + 66.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874896 ms (missed cycles : 2).[0m + 67.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841446 ms (missed cycles : 2).[0m + 67.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690310.28466082 seconds + 68.21sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 68.24sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690310.85613704 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 68.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792863 ms (missed cycles : 2).[0m + 68.76sWARNobjective_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 + 68.77sERRORobjective_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 + 68.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690311.38634181 seconds + 69.39sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 69.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690312.03944850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 69.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715310 ms (missed cycles : 3).[0m + 69.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690312.55960321 seconds + 70.50sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 70.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690313.14675021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 70.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941293 ms (missed cycles : 2).[0m + 71.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690313.65692711 seconds + 71.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 71.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690314.25249577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787012 ms (missed cycles : 2).[0m + 72.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690314.76267338 seconds + 72.70sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 72.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690315.35473895 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872225 ms (missed cycles : 2).[0m + 73.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690315.86490130 seconds + 73.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143659 ms (missed cycles : 2).[0m + 74.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493510 ms (missed cycles : 2).[0m + 76.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629907 ms (missed cycles : 2).[0m + 77.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930946 ms (missed cycles : 2).[0m + 78.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105043 ms (missed cycles : 2).[0m + 79.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558458 ms (missed cycles : 2).[0m + 80.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805910 ms (missed cycles : 2).[0m + 81.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535017 ms (missed cycles : 2).[0m + 82.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830870 ms (missed cycles : 2).[0m + 83.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 83.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690326.26996589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 83.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863512 ms (missed cycles : 2).[0m + 84.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690326.82212329 seconds + 84.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222127 ms (missed cycles : 2).[0m + 84.76sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 84.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690327.40643191 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 85.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214130 ms (missed cycles : 2).[0m + 86.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097980 ms (missed cycles : 2).[0m + 88.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778702 ms (missed cycles : 2).[0m + 89.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132429 ms (missed cycles : 3).[0m + 90.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177403 ms (missed cycles : 2).[0m + 90.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690333.12656951 seconds + 91.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 91.08sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690333.70220900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 91.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006520 ms (missed cycles : 2).[0m + 91.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690334.22238684 seconds + 92.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 92.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690334.81653500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 92.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321621 ms (missed cycles : 2).[0m + 92.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690335.33682513 seconds + 93.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 93.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690335.91719651 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 93.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195618 ms (missed cycles : 2).[0m + 94.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567639 ms (missed cycles : 3).[0m + 94.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690337.50733852 seconds + 95.42sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" + 95.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690338.06443310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725002 ms (missed cycles : 2).[0m + 96.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690338.71455956 seconds + 96.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) + 97.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595658 ms (missed cycles : 3).[0m + 97.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277483 ms (missed cycles : 2).[0m + 99.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886225 ms (missed cycles : 2).[0m +100.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313767 ms (missed cycles : 2).[0m +101.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951559 ms (missed cycles : 2).[0m +102.12sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.12sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.12sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.13sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.14sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.14sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.14sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.14sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.14sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +102.14sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.14sERRORweb_video_auth_proxy-37process has died [pid 7788, 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']. +102.15sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.15sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.15sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.15sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +102.15sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.15sERRORweb_bridge_auth_proxy-36process has died [pid 7785, 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']. +102.16sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.16sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.16sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.16sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +102.16sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +102.16sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +102.17sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +102.18sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +102.18sINFOvideo_server-35process has finished cleanly [pid 7784] +102.19sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +102.19sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +102.20sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +102.21sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +102.22sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +102.23sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +102.24sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +102.25sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +102.25sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +102.27sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +102.28sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +102.29sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +102.30sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +102.30sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +102.31sERRORmove_group-23process has died [pid 7712, 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_r0ttqsiz --params-file /tmp/launch_params_qqz5cawy --params-file /tmp/launch_params_zb2xr5m_ --params-file /tmp/launch_params_b5f9g8kv --params-file /tmp/launch_params_aa1ow4hg --params-file /tmp/launch_params_hr4wl9ak']. +102.31sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +102.32sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +102.32sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +102.33sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +102.34sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +102.34sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +102.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +102.35sINFOvideo_server2026/09/18 00:12:24 INF shutting down gracefully +102.35sINFOvideo_server2026/09/18 00:12:24 INF [WebRTC] closing +102.35sINFOvideo_server2026/09/18 00:12:24 INF [RTSP] closing +102.35sINFOvideo_server2026/09/18 00:12:24 INF waiting for running hooks +102.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +102.35sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOcomponent_container_mtStopping planning scene monitor[0m +102.35sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +102.35sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +102.35sERRORmove_groupwhat(): context cannot be slept with because it's invalid +102.35sERRORmove_groupStack trace (most recent call last) in thread 8353: +102.35sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +102.35sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa922f8a63, in __clone +102.35sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa9226baa3, in +102.35sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +102.35sINFOros2_control_nodeShutdown request received....[0m +102.35sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +102.35sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +102.35sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +102.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +102.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +102.35sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +102.35sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +102.35sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +102.35sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffa924fddb3, in +102.35sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ffa92c61b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +102.35sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffa9288f620, in rclcpp::Rate::sleep() +102.35sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffa927d1d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +102.35sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ffa92793087, in +102.35sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffa924cc390, in __cxa_throw +102.36sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffa924b6a54, in std::terminate() +102.36sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffa924cc0d9, in +102.36sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ffa924b6ff4, in +102.36sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa921f78fe, in abort +102.36sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa9221427d, in raise +102.36sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ffa9226db2c, in pthread_kill +102.36sERRORmove_groupAborted (Signal sent by tkill() 7712 0) +102.36sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +102.36sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +102.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +102.36sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +102.36sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +102.36sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +102.36sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +102.36sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +102.36sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +102.36sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +102.36sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +102.36sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +102.36sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +102.36sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +102.36sINFOros2_control_nodeShutting down the controller manager.[0m +102.36sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +102.36sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +102.36sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +102.36sERRORodom_qos_relay.pyTraceback (most recent call last): +102.36sINFOodom_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> +102.36sINFOodom_qos_relay.pymain() +102.36sINFOodom_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 +102.36sINFOodom_qos_relay.pyrclpy.spin(node) +102.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +102.36sINFOodom_qos_relay.pyexecutor.spin_once() +102.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +102.36sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +102.36sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +102.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +102.36sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +102.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +102.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +102.36sINFOodom_qos_relay.pyreturn next(self._cb_iter) +102.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +102.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +102.36sINFOodom_qos_relay.pyraise ExternalShutdownException() +102.36sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +102.48sINFOros2_control_nodeAsync messages lost 0[0m ×2 +102.48sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +103.23sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7783] +103.23sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +103.27sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7766] +103.29sINFOui_teleop_bridge-32process has finished cleanly [pid 7781] +103.29sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7764] +103.30sINFOexecute_objective_bridge-31process has finished cleanly [pid 7776] +103.31sINFOparameter_manager_node-24process has finished cleanly [pid 7713] +103.33sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7699] +103.34sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7604] +103.34sINFOstatic_transform_publisher-8process has finished cleanly [pid 7603] +103.35sINFOwaypoint_manager_node-25process has finished cleanly [pid 7761] +103.35sINFOstatic_transform_publisher-7process has finished cleanly [pid 7602] +103.35sERRORlidar_flattener.pyTraceback (most recent call last): +103.35sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +103.35sINFOlidar_flattener.pymain() +103.35sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +103.35sINFOlidar_flattener.pyrclpy.spin(node) +103.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +103.36sINFOlidar_flattener.pyexecutor.spin_once() +103.36sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +103.36sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +103.36sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +103.36sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +103.36sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +103.36sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +103.36sINFOlidar_flattener.pyreturn next(self._cb_iter) +103.36sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +103.36sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +103.36sINFOlidar_flattener.pyraise ExternalShutdownException() +103.36sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +103.37sINFOstatic_transform_publisher-4process has finished cleanly [pid 7599] +103.38sINFOobjective_server_node[2026-09-18 00:12:25.998] [moveit_pro_license] [critical] +103.38sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +103.38sINFOcomponent_container_mt-30process has finished cleanly [pid 7775] +103.38sINFOstatic_transform_publisher-3process has finished cleanly [pid 7598] +103.40sERRORlidar_flattener.py-6process has died [pid 7601, 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_m9f_pi7j']. +103.41sERRORodom_qos_relay.py-5process has died [pid 7600, 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']. +103.44sINFOobjective_server_node_main-28process has finished cleanly [pid 7767] +103.44sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +103.72sERRORcomponent_container_isolated-1process has died [pid 7596, 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_3vsf3qb7 --params-file /tmp/launch_params_vp5wa_y8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +103.78sERRORcomponent_container_isolated-2process has died [pid 7597, 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_3vsf3qb7 --params-file /tmp/launch_params_n1pct4d0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +104.41sINFOcomponent_container_mt-29process has finished cleanly [pid 7768] +105.02sINFOros2_control_node-11process has finished cleanly [pid 7700] +105.21sINFOweb_bridge-33process has finished cleanly [pid 7782] +105.21sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +110.14sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-00-12-31-398368-2d32c0e70811-8662 ×2 +113.83sINFOstatic_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' +113.83sINFOstatic_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' +113.84sINFOstatic_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' +113.84sINFOstatic_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' +114.01sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +114.03sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +114.03sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +114.06sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +114.07sINFOros2_control_node-11process started with pid [8814] ×2 +114.07sINFOmove_group-23process started with pid [8841] ×2 +114.07sINFOparameter_manager_node-24process started with pid [8842] ×2 +114.07sINFOwaypoint_manager_node-25process started with pid [8867] ×2 +114.07sINFOmove_joint_resampler_node-26process started with pid [8868] ×2 +114.07sINFOmove_end_effector_resampler_node-27process started with pid [8869] ×2 +114.07sINFOobjective_server_node_main-28process started with pid [8870] ×2 +114.07sINFOcomponent_container_mt-29process started with pid [8871] ×2 +114.07sINFOcomponent_container_mt-30process started with pid [8872] ×2 +114.07sINFOexecute_objective_bridge-31process started with pid [8873] ×2 +114.07sINFOui_teleop_bridge-32process started with pid [8874] ×2 +114.07sINFOweb_bridge-33process started with pid [8875] ×2 +114.07sINFOtf2_web_republisher_node-34process started with pid [8887] ×2 +114.10sINFOvideo_server-35process started with pid [8888] ×2 +114.10sINFOweb_bridge_auth_proxy-36process started with pid [8889] ×2 +114.10sINFOweb_video_auth_proxy-37process started with pid [8892] ×2 +114.10sINFOcomponent_container_isolated-1process started with pid [8712] ×2 +114.10sINFOcomponent_container_isolated-2process started with pid [8713] ×2 +114.10sINFOstatic_transform_publisher-3process started with pid [8714] ×2 +114.10sINFOstatic_transform_publisher-4process started with pid [8715] ×2 +114.10sINFOodom_qos_relay.py-5process started with pid [8716] ×2 +114.10sINFOlidar_flattener.py-6process started with pid [8717] ×2 +114.10sINFOstatic_transform_publisher-7process started with pid [8718] ×2 +114.10sINFOstatic_transform_publisher-8process started with pid [8719] ×2 +114.10sINFOscan_to_scan_filter_chain-9process started with pid [8720] ×2 +114.10sINFOscan_to_scan_filter_chain-10process started with pid [8813] ×2 +114.10sINFOros2-12process started with pid [8815] ×2 +114.10sINFOros2-13process started with pid [8816] ×2 +114.10sINFOros2-14process started with pid [8817] ×2 +114.10sINFOros2-15process started with pid [8818] ×2 +114.10sINFOros2-16process started with pid [8821] ×2 +114.10sINFOros2-17process started with pid [8826] ×2 +114.10sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +114.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +114.11sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +114.12sINFOros2-18process started with pid [8827] ×2 +114.12sINFOros2-19process started with pid [8828] ×2 +114.12sINFOros2-20process started with pid [8829] ×2 +114.12sINFOros2-21process started with pid [8833] ×2 +114.12sINFOros2-22process started with pid [8838] ×2 +114.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +114.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +114.15sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +114.15sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +114.15sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +114.15sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +114.15sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +114.16sINFOcontroller_managerupdate rate is 600 Hz +114.16sINFOcontroller_managerOverruns handling is : enabled +114.17sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +114.17sWARNcontroller_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. +114.18sINFOcontroller_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. +114.18sINFOmap_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. +114.18sINFOmap_serverCreating +114.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439345 ms (missed cycles : 5). +114.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439345 ms (missed cycles : 5).[0m ×2 +114.20sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +114.21sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +114.22sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +114.24sINFOcontroller_serverCreating controller server +114.29sINFOlocal_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. +114.29sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +114.30sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +114.30sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +114.30sINFOlocal_costmap.local_costmapCreating Costmap +114.31sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +114.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +114.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +114.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +114.34sINFOsmoother_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. +114.35sINFOlifecycle_manager_localizationCreating +114.36sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +114.36sINFOsmoother_serverCreating smoother server +114.37sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +114.37sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +114.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +114.38sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +114.38sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +114.38sINFOmap_serverConfiguring +114.41sINFOplanner_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. +114.44sINFOplanner_serverCreating +114.45sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +114.45sINFOamclConfiguring +114.45sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +114.45sINFOmap_serverActivating +114.45sINFOmap_serverCreating bond (map_server) to lifecycle manager. +114.49sINFOglobal_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. +114.50sINFOglobal_costmap.global_costmapCreating Costmap +114.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +114.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +114.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +114.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +114.55sINFOvideo_server2026/09/18 00:12:37 INF MediaMTX v1.20.1, linux, amd64 ×2 +114.55sINFOvideo_server2026/09/18 00:12:37 INF configuration loaded from /tmp/moveit-webrtc-wofzt6lm/mediamtx.yml ×2 +114.55sINFOvideo_server2026/09/18 00:12:37 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +114.55sINFOvideo_server2026/09/18 00:12:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +114.55sINFObehavior_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. +114.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +114.56sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +114.56sINFOlifecycle_manager_localizationServer map_server connected with bond. +114.56sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +114.56sINFOamclActivating +114.56sINFOamclSubscribed to initial_pose_topic: /initialpose +114.56sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +114.57sINFOamclSubscribed to map_topic: /map +114.57sINFOamclSubscribed to scan_topic: /scan_merged +114.57sINFOamclCreated reinitialize_global_localization service +114.57sINFOamclCreated request_nomotion_update service +114.58sINFOamclA new map was received +114.58sINFOamclInitializing particle filter instance +114.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +114.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +114.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +114.67sINFOrobot_state_publisherRobot initialized +114.67sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +114.68sINFOcontroller_managerReceived robot description from topic. +114.68sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +114.68sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +114.69sINFObt_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. +114.72sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +114.73sINFObt_navigatorCreating +114.73sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +114.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +114.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +114.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +114.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +114.79sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +114.82sINFOwaypoint_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. +114.83sINFOwaypoint_followerCreating +114.85sWARNlaser_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. +114.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +114.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +114.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +114.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +114.88sINFOamclParticle filter initialization completed +114.88sINFOamclInitializing particles from estimated pose and covariance +114.88sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +114.88sINFOamclThe bond connection to the lifecycle manager is now fully formed +114.88sINFOlifecycle_manager_localizationServer amcl connected with bond. +114.88sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +114.88sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +114.89sINFOvelocity_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. +114.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +114.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +114.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +114.94sWARNlaser_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. +114.95sINFOlifecycle_manager_navigationCreating +114.95sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +114.96sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +114.98sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +114.98sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +114.98sINFOcontroller_serverConfiguring controller interface +114.98sINFOcontroller_servergetting progress checker plugins.. +114.98sINFOcontroller_servergetting goal checker plugins.. +114.98sINFOcontroller_serverController frequency set to 20.0000Hz +114.98sINFOlocal_costmap.local_costmapConfiguring +114.99sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +115.00sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +115.01sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +115.01sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +115.01sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +115.04sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +115.05sINFOcontroller_serverController Server has progress_checker progress checkers available. +115.05sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +115.06sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +115.07sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +115.08sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +115.10sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +115.10sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +115.14sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +115.14sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +115.15sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +115.15sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +115.17sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +115.17sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +115.19sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +115.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +115.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789481 ms (missed cycles : 2). +115.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789481 ms (missed cycles : 2).[0m ×2 +115.22sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +115.22sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +115.23sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +115.23sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +115.23sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +115.23sINFOcontroller_serverOptimizer reset ×2 +115.24sINFOcontroller_serverController Server has FollowPath controllers available. +115.25sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +115.25sINFOsmoother_serverConfiguring smoother server +115.25sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.422664 seconds +115.25sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +115.25sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +115.25sINFOmove_groupLoaded robot model in 0.422664 seconds[0m ×2 +115.27sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +115.27sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +115.28sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +115.28sINFOplanner_serverConfiguring +115.28sINFOglobal_costmap.global_costmapConfiguring +115.29sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +115.30sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +115.30sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +115.30sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +115.30sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +115.32sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +115.32sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +115.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +115.35sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +115.35sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +115.35sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +115.35sINFOplanner_serverPlanner Server has GridBased planners available. +115.36sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +115.36sINFObehavior_serverConfiguring +115.36sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +115.37sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +115.37sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +115.37sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +115.37sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +115.38sINFObehavior_serverConfiguring spin +115.39sINFObehavior_serverConfiguring backup +115.40sINFObehavior_serverConfiguring drive_on_heading +115.40sINFObehavior_serverConfiguring assisted_teleop +115.41sINFObehavior_serverConfiguring wait +115.42sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +115.42sINFObt_navigatorConfiguring +115.42sINFOwaypoint_manager_nodeLoaded robot model in 0.318096 seconds[0m ×2 +115.42sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +115.43sWARNbt_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 +115.51sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.51sWARNmove_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. +115.54sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +115.58sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +115.58sINFOwaypoint_followerConfiguring +115.60sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +115.61sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +115.61sINFOvelocity_smootherConfiguring velocity smoother +115.61sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +115.61sINFOcontroller_serverActivating +115.61sINFOlocal_costmap.local_costmapActivating +115.61sINFOlocal_costmap.local_costmapChecking transform +115.61sINFOlocal_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. ×32 +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.68sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.69sWARNwaypoint_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. +115.76sINFOmove_group[2026-09-18 00:12:38.383] [moveit_pro_license] [info] ×2 +115.76sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +115.76sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +115.87sINFOwaypoint_manager_node[2026-09-18 00:12:38.494] [moveit_pro_license] [info] ×2 +116.06sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +116.06sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +116.06sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +116.06sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +116.06sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +116.07sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +116.07sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +116.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +116.07sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +116.07sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +116.08sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +116.26sINFOobjective_server_node[2026-09-18 00:12:38.878] [moveit_pro_license] [info] ×2 +116.31sINFOobjective_server_nodeLoaded robot model in 0.0201745 seconds[0m ×2 +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +116.38sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +116.38sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +116.39sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +116.40sINFOcontroller_managerActivating component 'ur_mujoco_control'. +116.40sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +116.40sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +116.40sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +116.41sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +116.41sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +116.41sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +116.41sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +116.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +116.42sINFOstreaming_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) +116.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826059 ms (missed cycles : 2). +116.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826059 ms (missed cycles : 2).[0m ×2 +116.42sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +116.45sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +116.45sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +116.54sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.54sWARNobjective_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. +116.55sWARNobjective_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. +116.55sWARNobjective_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. +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +116.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +116.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +116.59sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +116.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +116.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +116.63sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +116.63sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +116.65sINFOstreaming_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) +116.66sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +116.66sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +116.66sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +116.75sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +116.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +116.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +116.89sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +116.89sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +116.95sINFOros2_control_node[2026-09-18 00:12:39.571] [info] Controller state will be published at 20 Hz. ×2 +116.95sINFOros2_control_node[2026-09-18 00:12:39.573] [info] JointVelocityController 'on_configure' succeeded. ×2 +117.24sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +117.24sINFOcontroller_managerLoading controller 'vacuum_gripper' +117.24sINFOcomponent_container_mtLoaded robot model in 0.447539 seconds[0m ×2 +117.24sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +117.24sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +117.26sINFOmove_groupMoveGroup debug mode is ON +117.26sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +117.28sINFOros2-22process has finished cleanly [pid 8838] ×2 +117.29sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +117.29sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +117.29sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +117.29sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +117.30sINFOcontroller_managerSuccessfully switched controllers! ×20 +117.30sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +117.38sINFOmove_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
********************************************************
+117.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839541 ms (missed cycles : 2). +117.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839541 ms (missed cycles : 2).[0m ×2 +117.48sWARNplanning_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. +117.48sWARNplanning_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. +117.48sWARNplanning_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. +117.48sWARNplanning_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. +117.48sWARNplanning_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. +117.48sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.49sWARNplanning_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. +117.50sWARNplanning_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. +117.50sWARNplanning_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. +117.50sWARNplanning_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. +117.50sWARNplanning_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. +117.60sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +117.60sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +117.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +117.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' +117.62sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +117.62sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +117.66sINFOros2-16process has finished cleanly [pid 8821] ×2 +117.67sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +117.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +117.73sINFOcomponent_container_mt[2026-09-18 00:12:40.351] [moveit_pro_license] [info] ×2 +117.94sINFOros2_control_node[2026-09-18 00:12:40.558] [info] Controller state will be published at 20 Hz. ×2 +117.94sINFOros2_control_node[2026-09-18 00:12:40.558] [info] JointVelocityController 'on_configure' succeeded. ×2 +118.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +118.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +118.24sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +118.24sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +118.27sINFOros2-21process has finished cleanly [pid 8833] ×2 +118.32sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +118.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +118.33sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +118.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +118.33sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +118.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +118.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +118.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +118.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +118.42sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +118.43sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +118.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140277 ms (missed cycles : 2). +118.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140277 ms (missed cycles : 2).[0m ×2 +118.62sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690359.838 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +118.62sINFOros2-18process has finished cleanly [pid 8827] ×2 +119.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178371 ms (missed cycles : 2). +119.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178371 ms (missed cycles : 2).[0m ×2 +120.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847657 ms (missed cycles : 2). +120.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847657 ms (missed cycles : 2).[0m ×2 +121.25sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690362.579 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +121.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240564 ms (missed cycles : 2). +121.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240564 ms (missed cycles : 2).[0m ×2 +123.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409113 ms (missed cycles : 3). +123.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409113 ms (missed cycles : 3).[0m ×2 +123.79sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690365.125 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +124.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811570 ms (missed cycles : 2). +124.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811570 ms (missed cycles : 2).[0m ×2 +125.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987453 ms (missed cycles : 2). +125.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987453 ms (missed cycles : 2).[0m ×2 +126.31sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690367.636 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +126.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901064 ms (missed cycles : 2). +126.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901064 ms (missed cycles : 2).[0m ×2 +127.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334722 ms (missed cycles : 3). +127.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334722 ms (missed cycles : 3).[0m ×2 +128.63sWARNspawner_velocity_force_controllerFailed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.) +128.63sWARNros2Failed getting a result from calling /controller_manager/list_controllers in 10.0. (Attempt 1 of 3.)[0m ×2 +128.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +128.63sINFOcontroller_managerLoading controller 'velocity_force_controller' +128.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415085 ms (missed cycles : 3). +128.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415085 ms (missed cycles : 3).[0m ×2 +128.70sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +128.70sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +128.73sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +128.73sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +128.85sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690370.173 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.22sINFOros2_control_node[2026-09-18 00:12:51.838] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.22sINFOros2_control_node[2026-09-18 00:12:51.841] [info] Controller state will be published at 10 Hz. ×2 +129.22sINFOros2_control_node[2026-09-18 00:12:51.842] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.53sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +129.53sINFOcontroller_managerLoading controller 'platform_velocity_controller' +129.54sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +129.54sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +129.54sINFOros2-19process has finished cleanly [pid 8828] ×2 +129.59sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +129.59sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +129.59sINFOplatform_velocity_controllerconfigure successful +129.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +129.60sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +129.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341920 ms (missed cycles : 3). +129.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341920 ms (missed cycles : 3).[0m ×2 +129.89sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +129.89sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +129.89sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +129.89sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +129.93sINFOros2-15process has finished cleanly [pid 8818] ×2 +129.95sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +129.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +129.95sINFOplatform_velocity_controller_nav2configure successful +130.30sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +130.30sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +130.30sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +130.30sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +130.31sINFOros2-17process has finished cleanly [pid 8826] ×2 +130.35sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +130.35sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +130.35sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +130.36sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +130.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +130.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +130.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +130.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +130.73sINFOros2-13process has finished cleanly [pid 8816] ×2 +130.76sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +130.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +130.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029379 ms (missed cycles : 2). +130.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029379 ms (missed cycles : 2).[0m ×2 +131.00sINFOros2_control_node[2026-09-18 00:12:53.617] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +131.00sINFOros2_control_node[2026-09-18 00:12:53.619] [info] Controller state will be published at 10 Hz. ×2 +131.00sINFOros2_control_node[2026-09-18 00:12:53.620] [info] VelocityForceController 'on_configure' succeeded. ×2 +131.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +131.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +131.33sINFOros2-20process has finished cleanly [pid 8829] ×2 +131.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +131.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +131.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +131.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +131.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +131.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +131.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +131.43sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690372.742 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +131.61sINFOlocal_costmap.local_costmapstart +131.71sINFOros2-14process has finished cleanly [pid 8817] ×2 +131.72sWARNcontroller_serverParameter controller_server.verbose not found +131.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +131.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +131.72sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +131.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz +131.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cgr5xqut --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_r4h54o6h --params-file /tmp/launch_params_b20gialz [0m ×2 +131.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +131.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +131.78sINFOforce_torque_sensor_broadcasterconfigure successful +131.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +131.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +131.82sINFOlifecycle_manager_navigationServer controller_server connected with bond. +131.82sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +131.82sINFOsmoother_serverActivating +131.82sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +131.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718729 ms (missed cycles : 2). +131.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718729 ms (missed cycles : 2).[0m ×2 +131.91sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 4.681ms +131.93sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +131.93sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +131.93sINFOplanner_serverActivating +131.93sINFOglobal_costmap.global_costmapActivating +131.93sINFOglobal_costmap.global_costmapChecking transform +131.93sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789690374.541218, but only time 1789690375.208478 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +132.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +132.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +132.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +132.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +132.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +132.09sINFOros2-12process has finished cleanly [pid 8815] ×2 +132.43sINFOglobal_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 1789690375.049501 but the earliest data is at time 1789690375.208478, when looking up transform from frame [ridgeback_base_link] to frame [map] +132.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973707 ms (missed cycles : 2). +132.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973707 ms (missed cycles : 2).[0m ×2 +132.93sINFOglobal_costmap.global_costmapstart +133.98sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +133.98sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +134.09sINFOlifecycle_manager_navigationServer planner_server connected with bond. +134.09sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +134.09sINFObehavior_serverActivating +134.09sINFObehavior_serverActivating spin +134.09sINFObehavior_serverActivating backup +134.09sINFObehavior_serverActivating drive_on_heading +134.09sINFObehavior_serverActivating assisted_teleop +134.09sINFObehavior_serverActivating wait +134.09sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +134.20sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +134.20sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +134.20sINFObt_navigatorActivating +134.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226292 ms (missed cycles : 2). +134.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226292 ms (missed cycles : 2).[0m ×2 +134.25sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +134.35sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +134.36sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +134.36sINFOwaypoint_followerActivating +134.36sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +134.46sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +134.46sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +134.46sINFOvelocity_smootherActivating +134.46sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +134.56sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +134.56sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +134.56sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +135.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). +135.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 +136.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). +136.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 +137.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +137.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +137.10sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +137.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 +137.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). +137.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 +137.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 +138.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 +138.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). +138.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 +138.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +139.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +139.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 +139.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +139.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +139.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +140.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). +140.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[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 | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.65sINFOmove_groupClearing octomap...[0m ×4 + 1.65sINFOmove_groupOctomap cleared.[0m ×4 + 1.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 345 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226292 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226292 ms (missed cycles : 2).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.12sINFOmove_groupClearing octomap...[0m ×4 + 3.12sINFOmove_groupOctomap cleared.[0m ×4 + 3.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.92sINFOjoint_trajectory_controllerReceived new action goal + 6.92sINFOjoint_trajectory_controllerAccepted new action goal + 6.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 339 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.22sINFObt_navigatorActivating + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226292 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226292 ms (missed cycles : 2).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.58sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.58sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.12sINFOmove_groupClearing octomap...[0m ×4 + 3.12sINFOmove_groupOctomap cleared.[0m ×4 + 3.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 330 info |
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.19sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.72sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.72sINFOobjective_server_nodecaller: ×10 + 2.72sINFOobjective_server_nodetype: 0 ×10 + 2.72sINFOobjective_server_nodename: "" ×10 + 2.72sINFOobjective_server_nodeinstance_id: "" ×10 + 2.72sINFOobjective_server_node ×10 + 2.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.75sINFOmove_groupClearing octomap...[0m ×4 + 2.75sINFOmove_groupOctomap cleared.[0m ×4 + 2.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792507 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 1.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.10sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.65sINFOmove_groupClearing octomap...[0m ×4 + 1.65sINFOmove_groupOctomap cleared.[0m ×4 + 1.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.65sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 2.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466664 ms (missed cycles : 3).[0m ×2 + 0.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690379.72128320 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.63sINFOmove_groupClearing octomap...[0m ×4 + 0.63sINFOmove_groupOctomap cleared.[0m ×4 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690379.73153806 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791505 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690380.29246497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690380.30260372 seconds ×3 + 1.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.75sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690380.86230707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690381.01295376 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100431 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690381.59456182 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 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690381.66471529 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690382.23135138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534721 ms (missed cycles : 3).[0m ×2 + 4.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.43sINFOjoint_trajectory_controllerReceived new action goal + 4.43sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058840 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467920 ms (missed cycles : 2).[0m ×2 | ||||