MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

6.2s

Avg test time

61%

Objective pass rate

Show INFO/DEBUG

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

7 fail6 pass24 skip

✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	1.3s	30 errors · 39 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690923.50451612 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983837 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983837 ms (missed cycles : 2).[0m ×2
✕ failed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	1.3s	24 errors · 33 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544338 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544338 ms (missed cycles : 2).[0m ×2 + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.33sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.33sINFOobjective_server_nodecaller: ×8 + 3.33sINFOobjective_server_nodetype: 0 ×8 + 3.33sINFOobjective_server_nodename: "" ×8 + 3.33sINFOobjective_server_nodeinstance_id: "" ×8 + 3.33sINFOobjective_server_node ×8 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 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 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 4.09sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 4.09sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 6.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 6.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 7.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 8.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3
✕ failed	Solution - Move Forward 2m	solution_move_forward_2m.xml	1.3s	12 errors · 30 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 1.27sINFOjoint_trajectory_controllerGoal reached, success! + 1.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.86sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.86sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.86sINFOobjective_server_nodecaller: ×8 + 1.86sINFOobjective_server_nodetype: 0 ×8 + 1.86sINFOobjective_server_nodename: "" ×8 + 1.86sINFOobjective_server_nodeinstance_id: "" ×8 + 1.86sINFOobjective_server_node ×8 + 1.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 2.59sWARNobjective_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 + 2.59sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.47sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.52sINFOmove_groupClearing octomap...[0m ×2 + 4.53sINFOmove_groupOctomap cleared.[0m ×2 + 4.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690946.01935029 seconds ×3 + 7.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2).[0m ×2 + 7.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690946.59903359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✕ failed	Move to Look at Plane	move_to_look_at_plane.xml	1.3s	30 errors · 39 warnings · 275 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 0.29sINFOjoint_trajectory_controllerGoal reached, success! + 0.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 0.81sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 0.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.86sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.86sINFOobjective_server_nodecaller: ×10 + 0.86sINFOobjective_server_nodetype: 0 ×10 + 0.86sINFOobjective_server_nodename: "" ×10 + 0.86sINFOobjective_server_nodeinstance_id: "" ×10 + 0.86sINFOobjective_server_node ×10 + 0.90sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 1.62sWARNobjective_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 + 1.62sERRORobjective_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 + 1.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 2.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.26sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 4.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.85sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 5.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.26sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690923.50451612 seconds ×3 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2).[0m ×2 + 8.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2).[0m ×2
✕ failed	Move to Arm Upright	move_to_arm_upright.xml	1.3s	24 errors · 33 warnings · 275 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 1.51sINFOjoint_trajectory_controllerGoal reached, success! + 1.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_nodecaller: ×10 + 2.09sINFOobjective_server_nodetype: 0 ×10 + 2.09sINFOobjective_server_nodename: "" ×10 + 2.09sINFOobjective_server_nodeinstance_id: "" ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 2.84sWARNobjective_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 + 2.85sERRORobjective_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 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 7.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✕ failed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	1.3s	6 errors · 24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627742 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627742 ms (missed cycles : 4).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257180 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257180 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668552 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668552 ms (missed cycles : 4).[0m ×2 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.30sINFOobjective_server_nodecaller: ×4 + 3.30sINFOobjective_server_nodetype: 0 ×4 + 3.30sINFOobjective_server_nodename: "" ×4 + 3.30sINFOobjective_server_nodeinstance_id: "" ×4 + 3.30sINFOobjective_server_node ×4 + 3.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690933.56317711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868101 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868101 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 4.03sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690934.25336027 seconds ×3 + 4.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.59sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690934.84896564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390960 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390960 ms (missed cycles : 3).[0m ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal + 5.03sINFOjoint_trajectory_controllerAccepted new action goal + 5.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078240 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078240 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489002 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489002 ms (missed cycles : 3).[0m ×2
✕ failed	Solution - Generate coverage path	solution_generate_coverage_path.xml	1.3s	12 errors · 30 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	138 warnings · 394 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.62sINFOobjective_server_nodecaller: ×12 + 0.62sINFOobjective_server_nodetype: 0 ×12 + 0.62sINFOobjective_server_nodename: "" ×12 + 0.62sINFOobjective_server_nodeinstance_id: "" ×12 + 0.62sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.66sINFOmove_groupClearing octomap...[0m ×4 + 0.66sINFOmove_groupOctomap cleared.[0m ×4 + 0.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286119 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.286119 ms (missed cycles : 2).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702251 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702251 ms (missed cycles : 2).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064148 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064148 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051052 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051052 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836275 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836275 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490692 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490692 ms (missed cycles : 3).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632514 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632514 ms (missed cycles : 3).[0m ×2 + 14.01sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.360ms + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282333 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282333 ms (missed cycles : 2).[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938567 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938567 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132667 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132667 ms (missed cycles : 3).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371212 ms (missed cycles : 3). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371212 ms (missed cycles : 3).[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830757 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830757 ms (missed cycles : 2).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350567 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350567 ms (missed cycles : 2).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682647 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682647 ms (missed cycles : 2).[0m ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553454 ms (missed cycles : 3). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553454 ms (missed cycles : 3).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753223 ms (missed cycles : 2). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753223 ms (missed cycles : 2).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748840 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748840 ms (missed cycles : 3).[0m ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836100 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836100 ms (missed cycles : 3).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670332 ms (missed cycles : 3). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670332 ms (missed cycles : 3).[0m ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587157 ms (missed cycles : 3). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587157 ms (missed cycles : 3).[0m ×2 + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811768 ms (missed cycles : 2). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811768 ms (missed cycles : 2).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678221 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678221 ms (missed cycles : 2).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533040 ms (missed cycles : 3). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533040 ms (missed cycles : 3).[0m ×2 + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605389 ms (missed cycles : 2). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605389 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784240 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784240 ms (missed cycles : 2).[0m ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096324 ms (missed cycles : 2). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096324 ms (missed cycles : 2).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947554 ms (missed cycles : 2). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947554 ms (missed cycles : 2).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116440 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116440 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084090 ms (missed cycles : 2). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084090 ms (missed cycles : 2).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887503 ms (missed cycles : 2). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887503 ms (missed cycles : 2).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177377 ms (missed cycles : 4). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177377 ms (missed cycles : 4).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348836 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348836 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791432 ms (missed cycles : 4). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.791432 ms (missed cycles : 4).[0m ×2 + 42.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490597 ms (missed cycles : 2). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490597 ms (missed cycles : 2).[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3).[0m ×2 + 46.24sINFOjoint_trajectory_controllerGoal reached, success! + 46.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690910.82915688 seconds ×3 + 46.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.82sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690911.40493345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5).[0m ×2 + 47.88sINFOobjective_server_nodeFound path in 0 iterations (2.1718e-05 s). ×2 + 47.94sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2).[0m ×2 + 49.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2). + 49.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2).[0m ×2 + 49.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	104 errors · 33 warnings · 504 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.57sINFOobjective_server_nodename: "" ×4 + 0.57sINFOobjective_server_nodeinstance_id: "" ×4 + 0.57sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.63sINFOmove_groupClearing octomap...[0m ×2 + 0.63sINFOmove_groupOctomap cleared.[0m ×2 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690946.01935029 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690946.59903359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690947.31915808 seconds ×3 + 4.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518714 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518714 ms (missed cycles : 3).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449220 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449220 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994148 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994148 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212164 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212164 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382196 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382196 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940727 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940727 ms (missed cycles : 2).[0m ×2 + 9.95sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 9.97sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORweb_video_auth_proxy-37process has died [pid 8933, 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 + 9.97sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 9.98sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORweb_bridge_auth_proxy-36process has died [pid 8925, 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 + 9.98sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.00sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.01sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.02sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.03sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.04sINFOvideo_server-35process has finished cleanly [pid 8924] ×2 + 10.04sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.05sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.06sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.07sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.08sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.09sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.09sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.10sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.11sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.13sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.13sINFOcontroller_managerShutdown request received.... + 10.13sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.13sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.13sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.13sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.13sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.13sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.13sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.13sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.13sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.13sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.13sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.13sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.13sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.13sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.13sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.13sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.13sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.13sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.13sINFOcontroller_managerShutting down the controller manager. + 10.14sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.15sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.16sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.16sERRORmove_group-23process has died [pid 8857, 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_0ao9gypv --params-file /tmp/launch_params_2kuara10 --params-file /tmp/launch_params_ele_yhgb --params-file /tmp/launch_params_7f8lm1eh --params-file /tmp/launch_params_lzq5th57 --params-file /tmp/launch_params_0lljqb00']. ×2 + 10.17sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.18sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.19sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.20sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.20sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.21sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.21sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.21sINFOmap_serverDeactivating + 10.21sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.22sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.22sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.22sINFOcontroller_serverDeactivating + 10.22sINFOlocal_costmap.local_costmapDeactivating + 10.22sINFOvideo_server2026/09/18 00:22:33 INF shutting down gracefully ×2 + 10.22sINFOvideo_server2026/09/18 00:22:33 INF [WebRTC] closing ×2 + 10.22sINFOvideo_server2026/09/18 00:22:33 INF [RTSP] closing ×2 + 10.22sINFOvideo_server2026/09/18 00:22:33 INF waiting for running hooks ×2 + 10.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmap_serverCleaning up + 10.22sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.22sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.22sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.22sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.22sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.23sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.23sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.23sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.23sERRORmove_groupStack trace (most recent call last) in thread 9504: ×2 + 10.23sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.23sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d2194ca63, in __clone ×2 + 10.23sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d218bfaa3, in ×2 + 10.23sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2d21b51db3, in ×2 + 10.23sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f2d222b5b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.23sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2d21ee3620, in rclcpp::Rate::sleep() ×2 + 10.23sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2d21e25d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.23sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2d21de7087, in ×2 + 10.23sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2d21b20390, in __cxa_throw ×2 + 10.23sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2d21b0aa54, in std::terminate() ×2 + 10.23sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2d21b200d9, in ×2 + 10.23sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2d21b0aff4, in ×2 + 10.23sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d2184b8fe, in abort ×2 + 10.23sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d2186827d, in raise ×2 + 10.23sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2d218c1b2c, in pthread_kill ×2 + 10.23sERRORmove_groupAborted (Signal sent by tkill() 8857 0) ×2 + 10.23sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.23sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.23sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.23sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.23sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.23sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.23sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.23sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.23sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.23sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.23sINFOodom_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 + 10.23sINFOodom_qos_relay.pymain() ×2 + 10.23sINFOodom_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 + 10.23sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.23sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.23sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.23sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.24sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.24sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.24sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.24sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.24sERRORamclThe bond connection to the lifecycle manager has been broken + 10.28sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.29sINFOcontroller_serverCleaning up + 10.29sINFOlocal_costmap.local_costmapCleaning up + 10.33sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.33sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.33sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.33sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.33sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.33sINFOvelocity_smootherDeactivating + 10.33sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.34sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.34sINFOsmoother_serverDeactivating + 10.34sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.34sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.34sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.35sINFOsmoother_serverCleaning up + 10.36sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.36sINFOplanner_serverDeactivating + 10.36sINFOglobal_costmap.global_costmapDeactivating + 10.45sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.45sINFOwaypoint_followerDeactivating + 10.45sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.56sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.56sINFObt_navigatorDeactivating + 10.56sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.67sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.67sINFObehavior_serverDeactivating + 10.67sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.78sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.79sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.79sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.79sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.79sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.79sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.79sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.79sINFOvelocity_smootherCleaning up + 10.79sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.79sINFOwaypoint_followerCleaning up + 10.82sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.82sINFObt_navigatorCleaning up + 10.90sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.91sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.92sINFOplanner_serverCleaning up + 10.93sINFOglobal_costmap.global_costmapCleaning up + 10.94sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.94sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.98sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.98sINFObehavior_serverCleaning up + 10.98sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.98sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.98sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.98sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.00sINFObt_navigatorCompleted Cleaning up + 11.00sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.05sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.06sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.06sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.06sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.06sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.06sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.06sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.06sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.06sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8921] ×2 + 11.06sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.13sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8895] ×2 + 11.14sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8894] ×2 + 11.14sINFOui_teleop_bridge-32process has finished cleanly [pid 8919] ×2 + 11.14sINFOexecute_objective_bridge-31process has finished cleanly [pid 8918] ×2 + 11.17sINFOparameter_manager_node-24process has finished cleanly [pid 8858] ×2 + 11.19sINFOwaypoint_manager_node-25process has finished cleanly [pid 8893] ×2 + 11.19sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8838] ×2 + 11.20sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8745] ×2 + 11.21sINFOstatic_transform_publisher-8process has finished cleanly [pid 8744] ×2 + 11.21sINFOstatic_transform_publisher-7process has finished cleanly [pid 8743] ×2 + 11.22sINFOcomponent_container_mt-30process has finished cleanly [pid 8917] ×2 + 11.22sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.22sINFOlidar_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 + 11.22sINFOlidar_flattener.pymain() ×2 + 11.22sINFOlidar_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 + 11.22sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.22sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.22sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.22sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.22sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.22sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.23sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.23sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.23sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.23sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.23sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.23sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.23sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.24sINFOstatic_transform_publisher-4process has finished cleanly [pid 8740] ×2 + 11.24sINFOobjective_server_node[2026-09-18 00:22:34.481] [moveit_pro_license] [info] ×2 + 11.24sINFOobjective_server_node************************************************* ×4 + 11.24sINFOobjective_server_node* MoveIt Pro License ×2 + 11.24sINFOobjective_server_node* Application has successfully terminated ×2 + 11.25sINFOstatic_transform_publisher-3process has finished cleanly [pid 8739] ×2 + 11.27sERRORlidar_flattener.py-6process has died [pid 8742, 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_htw2ean5']. ×2 + 11.28sERRORodom_qos_relay.py-5process has died [pid 8741, 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 + 11.30sINFOobjective_server_node_main-28process has finished cleanly [pid 8901] ×2 + 11.30sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.34sERRORcomponent_container_isolated-1process has died [pid 8737, 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_7qjawjcy --params-file /tmp/launch_params_w8113gik -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.56sERRORcomponent_container_isolated-2process has died [pid 8738, 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_7qjawjcy --params-file /tmp/launch_params_9t2cav8z -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.26sINFOcomponent_container_mt-29process has finished cleanly [pid 8916] ×2 + 12.82sINFOweb_bridge-33process has finished cleanly [pid 8920] ×2 + 12.82sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 12.86sINFOros2_control_node-11process has finished cleanly [pid 8839] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	30 errors · 63 warnings · 273 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 0.03sWARNobjective_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 + 0.04sERRORobjective_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 + 0.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.65sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 1.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 1.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 2.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.32sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690923.50451612 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2).[0m ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983837 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983837 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526368 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526368 ms (missed cycles : 3).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542997 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542997 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509900 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509900 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627742 ms (missed cycles : 4). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.627742 ms (missed cycles : 4).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257180 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257180 ms (missed cycles : 2).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668552 ms (missed cycles : 4). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668552 ms (missed cycles : 4).[0m ×2 + 14.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690933.56317711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868101 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868101 ms (missed cycles : 2).[0m ×2 + 14.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690934.25336027 seconds ×3 + 15.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.32sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690934.84896564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390960 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390960 ms (missed cycles : 3).[0m ×2 + 15.77sINFOjoint_trajectory_controllerReceived new action goal + 15.77sINFOjoint_trajectory_controllerAccepted new action goal + 15.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078240 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078240 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	18 errors · 48 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257180 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257180 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668552 ms (missed cycles : 4). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668552 ms (missed cycles : 4).[0m ×2 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_nodecaller: ×10 + 2.09sINFOobjective_server_nodetype: 0 ×10 + 2.09sINFOobjective_server_nodename: "" ×10 + 2.09sINFOobjective_server_nodeinstance_id: "" ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690933.56317711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868101 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868101 ms (missed cycles : 2).[0m ×2 + 2.81sWARNobjective_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 + 2.82sERRORobjective_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 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690934.25336027 seconds ×3 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.42sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690934.84896564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390960 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390960 ms (missed cycles : 3).[0m ×2 + 3.83sINFOjoint_trajectory_controllerReceived new action goal + 3.83sINFOjoint_trajectory_controllerAccepted new action goal + 3.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078240 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078240 ms (missed cycles : 2).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489002 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489002 ms (missed cycles : 3).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 9.18sINFOjoint_trajectory_controllerGoal reached, success! + 9.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 9.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.77sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 10.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 11.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.06sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.11sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 12.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.43sINFOmove_groupClearing octomap...[0m ×2 + 12.43sINFOmove_groupOctomap cleared.[0m ×2 + 12.44sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.44sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.0s	18 errors · 45 warnings · 266 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3).[0m ×2 + 2.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690910.82915688 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.75sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.75sINFOobjective_server_nodecaller: ×8 + 2.75sINFOobjective_server_nodetype: 0 ×8 + 2.75sINFOobjective_server_nodename: "" ×8 + 2.75sINFOobjective_server_nodeinstance_id: "" ×8 + 2.75sINFOobjective_server_node ×8 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690911.40493345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.1718e-05 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544338 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544338 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 7.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 7.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 8.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 8.74sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 8.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.80sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 9.56sWARNobjective_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. ×9 + 9.56sERRORobjective_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. ×9 + 9.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 10.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 10.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 11.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.48sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.52sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 12.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.8s	12 errors · 36 warnings · 221 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 0.25sINFOjoint_trajectory_controllerGoal reached, success! + 0.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.85sINFOobjective_server_nodecaller: ×8 + 0.85sINFOobjective_server_nodetype: 0 ×8 + 0.85sINFOobjective_server_nodename: "" ×8 + 0.85sINFOobjective_server_nodeinstance_id: "" ×8 + 0.85sINFOobjective_server_node ×8 + 0.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 1.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.58sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690946.01935029 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690946.59903359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690947.31915808 seconds ×3 + 7.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518714 ms (missed cycles : 3). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518714 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449220 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449220 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994148 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994148 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.62sINFOobjective_server_nodecaller: ×10 + 0.62sINFOobjective_server_nodetype: 0 ×10 + 0.62sINFOobjective_server_nodename: "" ×10 + 0.62sINFOobjective_server_nodeinstance_id: "" ×10 + 0.62sINFOobjective_server_node ×10 + 0.66sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.66sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.66sINFOmove_groupClearing octomap...[0m ×4 + 0.66sINFOmove_groupOctomap cleared.[0m ×4 + 0.66sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.66sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 1.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 3.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 4.57sINFOjoint_trajectory_controllerReceived new action goal + 4.57sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.57sINFOjoint_trajectory_controllerAccepted new action goal + 4.57sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3).[0m ×2 + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690910.82915688 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.75sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.75sINFOobjective_server_nodecaller: ×2 + 2.75sINFOobjective_server_nodetype: 0 ×2 + 2.75sINFOobjective_server_nodename: "" ×2 + 2.75sINFOobjective_server_nodeinstance_id: "" ×2 + 2.75sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690911.40493345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.1718e-05 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035169 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.973085 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760389 ms (missed cycles : 3).[0m ×2 + 2.17sINFOjoint_trajectory_controllerGoal reached, success! + 2.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690910.82915688 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.75sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.75sINFOobjective_server_nodecaller: ×2 + 2.75sINFOobjective_server_nodetype: 0 ×2 + 2.75sINFOobjective_server_nodename: "" ×2 + 2.75sINFOobjective_server_nodeinstance_id: "" ×2 + 2.75sINFOobjective_server_node ×2 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690911.40493345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011879 ms (missed cycles : 5).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.1718e-05 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231743 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414670 ms (missed cycles : 2).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 errors · 27 warnings · 196 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544338 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544338 ms (missed cycles : 2).[0m ×2 + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 1.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 2.76sINFOjoint_trajectory_controllerGoal reached, success! + 2.76sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.33sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.33sINFOobjective_server_nodecaller: ×6 + 3.33sINFOobjective_server_nodetype: 0 ×6 + 3.33sINFOobjective_server_nodename: "" ×6 + 3.33sINFOobjective_server_nodeinstance_id: "" ×6 + 3.33sINFOobjective_server_node ×6 + 3.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 4.09sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.09sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 4.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 6.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 6.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	24 errors · 30 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 1.51sINFOjoint_trajectory_controllerGoal reached, success! + 1.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 2.84sWARNobjective_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 + 2.85sERRORobjective_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 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	24 errors · 30 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 1.51sINFOjoint_trajectory_controllerGoal reached, success! + 1.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 2.84sWARNobjective_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 + 2.85sERRORobjective_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 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	24 errors · 30 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 1.51sINFOjoint_trajectory_controllerGoal reached, success! + 1.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 2.84sWARNobjective_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 + 2.85sERRORobjective_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 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	24 errors · 30 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 1.51sINFOjoint_trajectory_controllerGoal reached, success! + 1.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 2.84sWARNobjective_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 + 2.85sERRORobjective_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 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	24 errors · 30 warnings · 222 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.454ms + 0.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996170 ms (missed cycles : 2).[0m ×2 + 1.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 1.51sINFOjoint_trajectory_controllerGoal reached, success! + 1.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690916.87506127 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707640 ms (missed cycles : 3).[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 2.698ms + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690917.45414519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 2.84sWARNobjective_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 + 2.85sERRORobjective_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 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.48sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 4.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.81sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 5.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 6.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 6.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 errors · 36 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690923.50451612 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 errors · 36 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690923.50451612 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 errors · 36 warnings · 214 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785422 ms (missed cycles : 2).[0m ×2 + 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690918.17449975 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690918.84307957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683244 ms (missed cycles : 2).[0m ×2 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690919.53323293 seconds ×3 + 1.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690920.13516283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027521 ms (missed cycles : 2).[0m ×2 + 2.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690920.83532643 seconds ×3 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690921.44168735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034718 ms (missed cycles : 2).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690922.20184374 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636119 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690922.81433487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690923.50451612 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593814 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185443 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174855 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571626 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 2.32sINFOjoint_trajectory_controllerGoal reached, success! + 2.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 2.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.39sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.39sINFOros2_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 + 2.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.40sINFOros2_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 + 2.96sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 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 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 3.64sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.65sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.58sINFOmove_groupClearing octomap...[0m ×2 + 5.58sINFOmove_groupOctomap cleared.[0m ×2 + 5.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	12 errors · 27 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849567 ms (missed cycles : 2).[0m ×2 + 0.25sINFOjoint_trajectory_controllerGoal reached, success! + 0.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690940.66095233 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.85sINFOobjective_server_nodecaller: ×8 + 0.85sINFOobjective_server_nodetype: 0 ×8 + 0.85sINFOobjective_server_nodename: "" ×8 + 0.85sINFOobjective_server_nodeinstance_id: "" ×8 + 0.85sINFOobjective_server_node ×8 + 0.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690941.24209189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267521 ms (missed cycles : 2).[0m ×2 + 1.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.58sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690941.93226194 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835872 ms (missed cycles : 2).[0m ×2 + 2.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.14sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.19sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690942.54269075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690943.24284935 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460669 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690943.84923220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.51sINFOmove_groupClearing octomap...[0m ×2 + 3.51sINFOmove_groupOctomap cleared.[0m ×2 + 3.51sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.51sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044594 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333126 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690946.01935029 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495160 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690946.59903359 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.2s	77 errors · 501 warnings · 2525 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-00-18-50-545861-2aeebd3d02e0-7572 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.92sINFOros2_control_node-11process started with pid [7724] + 4.92sINFOmove_group-23process started with pid [7749] + 4.92sINFOparameter_manager_node-24process started with pid [7750] + 4.92sINFOwaypoint_manager_node-25process started with pid [7777] + 4.92sINFOmove_joint_resampler_node-26process started with pid [7778] + 4.92sINFOmove_end_effector_resampler_node-27process started with pid [7779] + 4.92sINFOobjective_server_node_main-28process started with pid [7780] + 4.92sINFOcomponent_container_mt-29process started with pid [7781] + 4.92sINFOcomponent_container_mt-30process started with pid [7782] + 4.92sINFOexecute_objective_bridge-31process started with pid [7783] + 4.92sINFOui_teleop_bridge-32process started with pid [7784] + 4.92sINFOweb_bridge-33process started with pid [7785] + 4.92sINFOtf2_web_republisher_node-34process started with pid [7789] + 4.92sINFOvideo_server-35process started with pid [7824] + 4.92sINFOweb_bridge_auth_proxy-36process started with pid [7835] + 4.92sINFOweb_video_auth_proxy-37process started with pid [7836] + 4.92sINFOcomponent_container_isolated-1process started with pid [7622] + 4.92sINFOcomponent_container_isolated-2process started with pid [7623] + 4.92sINFOstatic_transform_publisher-3process started with pid [7624] + 4.92sINFOstatic_transform_publisher-4process started with pid [7625] + 4.92sINFOodom_qos_relay.py-5process started with pid [7626] + 4.92sINFOlidar_flattener.py-6process started with pid [7627] + 4.92sINFOstatic_transform_publisher-7process started with pid [7628] + 4.92sINFOstatic_transform_publisher-8process started with pid [7629] + 4.92sINFOscan_to_scan_filter_chain-9process started with pid [7630] + 4.92sINFOscan_to_scan_filter_chain-10process started with pid [7723] + 4.92sINFOros2-12process started with pid [7725] + 4.92sINFOros2-13process started with pid [7726] + 4.92sINFOros2-14process started with pid [7727] + 4.92sINFOros2-15process started with pid [7728] + 4.92sINFOros2-16process started with pid [7729] + 4.92sINFOros2-17process started with pid [7730] + 4.92sINFOros2-18process started with pid [7731] + 4.92sINFOros2-19process started with pid [7732] + 4.92sINFOros2-20process started with pid [7739] + 4.92sINFOros2-21process started with pid [7744] + 4.92sINFOros2-22process started with pid [7748] + 4.97sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 4.97sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 4.97sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 4.97sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 4.97sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 4.97sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 4.97sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.97sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.97sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.98sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.98sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 4.98sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 4.98sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 4.98sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 4.98sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 4.98sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 4.98sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.611427 ms (missed cycles : 7).[0m + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.05sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.15sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.15sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.15sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.20sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.30sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.32sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.33sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.37sINFOvideo_server2026/09/18 00:18:57 INF MediaMTX v1.20.1, linux, amd64 + 5.37sINFOvideo_server2026/09/18 00:18:57 INF configuration loaded from /tmp/moveit-webrtc-kkmzvuo5/mediamtx.yml + 5.37sINFOvideo_server2026/09/18 00:18:57 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.37sINFOvideo_server2026/09/18 00:18:57 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.57sINFOmove_groupLoaded robot model in 0.289619 seconds[0m + 5.57sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.57sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.61sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.05sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930432 ms (missed cycles : 3).[0m + 6.34sINFOwaypoint_manager_nodeLoaded robot model in 0.34174 seconds[0m + 6.34sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.34sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.38sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.38sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.60sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.60sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.62sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 6.62sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 6.69sINFOmove_group[2026-09-18 00:18:58.795] [moveit_pro_license] [info] + 6.69sINFOmove_group************************************************* ×6 + 6.69sINFOmove_group* MoveIt Pro License ×3 + 6.69sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.69sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.70sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.71sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.94sINFOwaypoint_manager_node[2026-09-18 00:18:59.049] [moveit_pro_license] [info] + 6.94sINFOwaypoint_manager_node************************************************* ×6 + 6.94sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 6.94sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.10sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.10sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.10sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.10sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.10sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.11sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.11sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.11sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.11sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.11sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.11sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.34sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.35sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.43sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.43sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.43sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.43sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 7.43sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.43sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.43sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.43sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.43sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.43sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.43sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.43sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.43sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.43sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.43sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.43sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.44sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.44sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.44sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.44sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.44sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.44sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.44sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 7.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 7.57sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 7.64sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 7.64sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 7.64sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 7.64sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 7.64sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 7.64sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 7.64sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 7.65sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 7.67sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 7.67sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 7.67sWARNros2_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 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 7.72sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 7.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 7.74sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 7.74sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 7.74sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 7.74sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 7.74sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 7.75sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 7.75sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 7.75sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 7.75sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 7.75sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 7.75sINFOcomponent_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 + 7.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 7.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 7.82sINFOobjective_server_node[2026-09-18 00:18:59.926] [moveit_pro_license] [info] + 7.82sINFOobjective_server_node************************************************* ×8 + 7.82sINFOobjective_server_node* MoveIt Pro License ×4 + 7.82sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 7.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362024 ms (missed cycles : 2).[0m + 7.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 7.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 7.89sINFOobjective_server_nodeLoaded robot model in 0.0309557 seconds[0m + 7.89sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 7.89sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 7.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.01sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 8.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.02sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.03sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.03sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 8.03sINFOros2-18process has finished cleanly [pid 7731] + 8.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.11sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 8.18sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 8.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.23sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.23sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 8.24sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 8.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.27sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.32sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.32sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.41sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 8.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.43sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.43sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.48sINFOcomponent_container_mtLoaded robot model in 0.372915 seconds[0m + 8.48sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.48sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.63sINFOros2_control_node[2026-09-18 00:19:00.736] [info] Controller state will be published at 20 Hz. + 8.63sINFOros2_control_node[2026-09-18 00:19:00.737] [info] JointVelocityController 'on_configure' succeeded. + 8.84sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.85sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.86sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009903 ms (missed cycles : 2).[0m + 8.94sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 8.94sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 8.94sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 8.96sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 8.96sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 8.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 8.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 8.97sINFOros2-22process has finished cleanly [pid 7748] + 8.99sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 8.99sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 8.99sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 9.00sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 9.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 9.00sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 9.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.03sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.05sINFOcomponent_container_mt[2026-09-18 00:19:01.162] [moveit_pro_license] [info] + 9.05sINFOcomponent_container_mt************************************************* ×6 + 9.05sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.14sINFOmove_group ×12 + 9.14sINFOmove_group******************************************************** ×6 + 9.14sINFOmove_group* MoveGroup using: ×3 + 9.15sINFOmove_group* - apply_planning_scene_service ×3 + 9.15sINFOmove_group* - clear_octomap_service ×3 + 9.15sINFOmove_group* - get_group_urdf ×3 + 9.15sINFOmove_group* - load_geometry_from_file ×3 + 9.15sINFOmove_group* - get_planning_scene_service ×3 + 9.15sINFOmove_group* - kinematics_service ×3 + 9.15sINFOmove_group* - save_geometry_to_file ×3 + 9.15sINFOmove_group* - GetPlanningGroups ×3 + 9.15sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.15sINFOmove_group[0m ×3 + 9.15sINFOmove_group[92mYou can start planning now![0m ×3 + 9.32sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 9.32sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 9.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 9.34sINFOros2-16process has finished cleanly [pid 7729] + 9.39sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 9.40sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.40sINFOros2_control_nodeconfigure successful[0m ×9 + 9.40sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.40sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.47sWARNros2_control_nodeCamera render tick took 0.98 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.50sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.50sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 9.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 9.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 9.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 9.73sINFOros2-12process has finished cleanly [pid 7725] + 9.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 9.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 9.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 9.75sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 9.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 9.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583882 ms (missed cycles : 2).[0m + 10.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 10.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 10.09sINFOros2-14process has finished cleanly [pid 7727] + 10.12sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 10.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 10.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 10.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 10.47sINFOros2-17process has finished cleanly [pid 7730] + 10.51sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 10.51sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 10.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 10.85sINFOros2_control_node[2026-09-18 00:19:02.955] [info] Controller state will be published at 20 Hz. + 10.85sINFOros2_control_node[2026-09-18 00:19:02.956] [info] JointVelocityController 'on_configure' succeeded. + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678220 ms (missed cycles : 2).[0m + 11.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.18sINFOros2-21process has finished cleanly [pid 7744] + 11.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 11.31sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 11.31sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.64sINFOros2_control_node[2026-09-18 00:19:03.750] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.64sINFOros2_control_node[2026-09-18 00:19:03.752] [info] Controller state will be published at 10 Hz. + 11.64sINFOros2_control_node[2026-09-18 00:19:03.754] [info] VelocityForceController 'on_configure' succeeded. + 11.97sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.97sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 11.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 11.97sINFOros2-20process has finished cleanly [pid 7739] + 12.02sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 12.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804765 ms (missed cycles : 2).[0m + 12.34sINFOros2_control_node[2026-09-18 00:19:04.445] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.34sINFOros2_control_node[2026-09-18 00:19:04.446] [info] Controller state will be published at 10 Hz. + 12.34sINFOros2_control_node[2026-09-18 00:19:04.447] [info] VelocityForceController 'on_configure' succeeded. + 12.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 12.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 12.70sINFOros2-19process has finished cleanly [pid 7732] + 12.70sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 12.76sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 12.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 12.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 12.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.09sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 13.09sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 13.09sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ia_v0ld6 --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_zhghp25f --params-file /tmp/launch_params_ss1t8onf [0m + 13.10sINFOros2-15process has finished cleanly [pid 7728] + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282566 ms (missed cycles : 2).[0m + 13.15sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 13.15sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 13.15sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 13.16sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 13.40sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.42sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.47sINFOros2-13process has finished cleanly [pid 7726] + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938619 ms (missed cycles : 2).[0m + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.478055 ms (missed cycles : 3).[0m + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074775 ms (missed cycles : 3).[0m + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323700 ms (missed cycles : 2).[0m + 17.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953491 ms (missed cycles : 2).[0m + 18.50sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.50sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.50sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.50sINFOobjective_server_nodecaller: ×27 + 18.50sINFOobjective_server_nodetype: 0 ×27 + 18.50sINFOobjective_server_nodename: "" ×27 + 18.50sINFOobjective_server_nodeinstance_id: "" ×27 + 18.50sINFOobjective_server_node ×27 + 18.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690750.64508343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.54sINFOmove_groupClearing octomap...[0m ×7 + 18.54sINFOmove_groupOctomap cleared.[0m ×7 + 18.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 18.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690750.65526342 seconds + 19.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690751.22870469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690751.23881888 seconds + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930905 ms (missed cycles : 2).[0m + 19.66sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 19.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690751.81464243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690751.96524334 seconds + 20.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690752.56350064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 20.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740721 ms (missed cycles : 3).[0m + 20.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690752.62364101 seconds + 21.05sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690753.19935107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266607 ms (missed cycles : 2).[0m + 22.15sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.44sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.44sINFOros2_control_nodeAccepted new action goal[0m ×3 + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047220 ms (missed cycles : 2).[0m + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133552 ms (missed cycles : 2).[0m + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275056 ms (missed cycles : 2).[0m + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837145 ms (missed cycles : 2).[0m + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321378 ms (missed cycles : 4).[0m + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.757857 ms (missed cycles : 3).[0m + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.970929 ms (missed cycles : 4).[0m + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681987 ms (missed cycles : 4).[0m + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601369 ms (missed cycles : 2).[0m + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437914 ms (missed cycles : 3).[0m + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843851 ms (missed cycles : 2).[0m + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123343 ms (missed cycles : 3).[0m + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781209 ms (missed cycles : 2).[0m + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397343 ms (missed cycles : 4).[0m + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320743 ms (missed cycles : 2).[0m + 39.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278215 ms (missed cycles : 2).[0m + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232563 ms (missed cycles : 2).[0m + 41.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928068 ms (missed cycles : 2).[0m + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660428 ms (missed cycles : 2).[0m + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660572 ms (missed cycles : 2).[0m + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965160 ms (missed cycles : 2).[0m + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027402 ms (missed cycles : 2).[0m + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974231 ms (missed cycles : 2).[0m + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984717 ms (missed cycles : 2).[0m + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511141 ms (missed cycles : 4).[0m + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177544 ms (missed cycles : 4).[0m + 50.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673642 ms (missed cycles : 4).[0m + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086072 ms (missed cycles : 2).[0m + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098357 ms (missed cycles : 2).[0m + 54.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152394 ms (missed cycles : 2).[0m + 55.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651492 ms (missed cycles : 3).[0m + 56.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984068 ms (missed cycles : 2).[0m + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474987 ms (missed cycles : 3).[0m + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683798 ms (missed cycles : 2).[0m + 59.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729579 ms (missed cycles : 2).[0m + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145920 ms (missed cycles : 2).[0m + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660482 ms (missed cycles : 3).[0m + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502668 ms (missed cycles : 2).[0m + 63.82sINFOros2_control_nodeGoal reached, success![0m ×3 + 63.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690795.95680904 seconds + 63.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 63.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 63.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 63.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736833 ms (missed cycles : 2).[0m + 64.38sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 64.42sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690796.52976274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 64.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599704 ms (missed cycles : 2).[0m + 65.44sINFOobjective_server_nodeFound path in 0 iterations (2.3371e-05 s). + 65.52sINFOobjective_server_nodePath shortcutter: [X________________________X] + 65.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602337 ms (missed cycles : 2).[0m + 67.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735615 ms (missed cycles : 3).[0m + 68.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854318 ms (missed cycles : 3).[0m + 69.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433664 ms (missed cycles : 3).[0m + 69.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690802.00989842 seconds + 70.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965036 ms (missed cycles : 4).[0m + 70.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 70.50sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690802.60582542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.20sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 71.21sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 71.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690803.31601977 seconds + 71.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439574 ms (missed cycles : 2).[0m + 71.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 71.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690803.98146963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474711 ms (missed cycles : 2).[0m + 72.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690804.67161655 seconds + 73.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.17sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690805.27865267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850913 ms (missed cycles : 4).[0m + 73.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690805.98880482 seconds + 74.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 74.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690806.59465241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288103 ms (missed cycles : 2).[0m + 75.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690807.30480266 seconds + 75.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 75.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286798 ms (missed cycles : 3).[0m + 75.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690807.91158748 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690808.58174133 seconds + 76.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097609 ms (missed cycles : 3).[0m + 77.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819445 ms (missed cycles : 4).[0m + 79.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580279 ms (missed cycles : 3).[0m + 80.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121218 ms (missed cycles : 2).[0m + 81.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630891 ms (missed cycles : 2).[0m + 82.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748419 ms (missed cycles : 2).[0m + 83.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488606 ms (missed cycles : 3).[0m + 84.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248767 ms (missed cycles : 3).[0m + 85.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011667 ms (missed cycles : 2).[0m + 86.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 86.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690818.62420535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 86.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862967 ms (missed cycles : 2).[0m + 87.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690819.31437325 seconds + 87.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668324 ms (missed cycles : 4).[0m + 87.77sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 87.81sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690819.91700602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415412 ms (missed cycles : 3).[0m + 89.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830767 ms (missed cycles : 2).[0m + 90.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738665 ms (missed cycles : 2).[0m + 91.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351362 ms (missed cycles : 2).[0m + 92.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872873 ms (missed cycles : 3).[0m + 93.55sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690825.65710926 seconds + 94.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798919 ms (missed cycles : 3).[0m + 94.09sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 94.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690826.25189638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 94.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690826.94207644 seconds + 95.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706304 ms (missed cycles : 2).[0m + 95.39sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 95.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690827.55252266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622214 ms (missed cycles : 3).[0m + 96.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690828.25267816 seconds + 96.71sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 96.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690828.85407376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271178 ms (missed cycles : 2).[0m + 98.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833774 ms (missed cycles : 2).[0m + 98.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690831.03419733 seconds + 99.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608676 ms (missed cycles : 2).[0m + 99.46sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" + 99.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690831.60667706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +100.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690832.30679750 seconds +100.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012718 ms (missed cycles : 2).[0m +100.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +101.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851024 ms (missed cycles : 2).[0m +102.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252932 ms (missed cycles : 2).[0m +103.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088195 ms (missed cycles : 2).[0m +104.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567332 ms (missed cycles : 3).[0m +105.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304599 ms (missed cycles : 2).[0m +105.84sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.84sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.84sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.84sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.85sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.85sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +105.85sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.85sERRORweb_video_auth_proxy-37process has died [pid 7836, 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']. +105.86sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.86sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.86sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +105.86sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.86sERRORweb_bridge_auth_proxy-36process has died [pid 7835, 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']. +105.86sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.87sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.88sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +105.89sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +105.89sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +105.90sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +105.91sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +105.92sINFOvideo_server-35process has finished cleanly [pid 7824] +105.92sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +105.93sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +105.94sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +105.94sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +105.95sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +105.96sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +105.97sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +105.98sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +105.99sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +106.00sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +106.01sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +106.02sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +106.03sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +106.04sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +106.05sERRORmove_group-23process has died [pid 7749, 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_xsws222_ --params-file /tmp/launch_params_de8gm16x --params-file /tmp/launch_params_j4lscez_ --params-file /tmp/launch_params_sa0y25mt --params-file /tmp/launch_params_eev3rg9k --params-file /tmp/launch_params_u1sy3z_y']. +106.05sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +106.06sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +106.07sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +106.08sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +106.08sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +106.09sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +106.10sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +106.10sINFOvideo_server2026/09/18 00:20:37 INF shutting down gracefully +106.10sINFOvideo_server2026/09/18 00:20:37 INF [WebRTC] closing +106.10sINFOvideo_server2026/09/18 00:20:37 INF [RTSP] closing +106.10sINFOvideo_server2026/09/18 00:20:37 INF waiting for running hooks +106.10sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +106.10sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +106.10sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOcomponent_container_mtStopping planning scene monitor[0m +106.10sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +106.10sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +106.10sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +106.10sERRORmove_groupwhat(): context cannot be slept with because it's invalid +106.10sERRORmove_groupStack trace (most recent call last) in thread 8391: +106.10sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +106.10sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1942a0aa63, in __clone +106.10sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f194297daa3, in +106.10sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1942c0fdb3, in +106.10sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f1943373b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +106.10sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1942fa1620, in rclcpp::Rate::sleep() +106.10sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1942ee3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +106.10sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1942ea5087, in +106.10sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1942bde390, in __cxa_throw +106.10sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1942bc8a54, in std::terminate() +106.10sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1942bde0d9, in +106.10sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1942bc8ff4, in +106.10sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f19429098fe, in abort +106.10sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f194292627d, in raise +106.10sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f194297fb2c, in pthread_kill +106.10sERRORmove_groupAborted (Signal sent by tkill() 7749 0) +106.11sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +106.11sINFOros2_control_nodeShutdown request received....[0m +106.11sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +106.11sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +106.11sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +106.11sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +106.11sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +106.11sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +106.11sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +106.11sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +106.11sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +106.11sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +106.11sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +106.11sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +106.11sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +106.11sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +106.11sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +106.11sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +106.11sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +106.11sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +106.11sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +106.11sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +106.11sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +106.11sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +106.11sINFOros2_control_nodeShutting down the controller manager.[0m +106.11sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +106.11sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +106.11sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +106.11sERRORodom_qos_relay.pyTraceback (most recent call last): +106.11sINFOodom_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> +106.11sINFOodom_qos_relay.pymain() +106.11sINFOodom_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 +106.11sINFOodom_qos_relay.pyrclpy.spin(node) +106.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +106.11sINFOodom_qos_relay.pyexecutor.spin_once() +106.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +106.11sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +106.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +106.11sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +106.11sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +106.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +106.11sINFOodom_qos_relay.pyreturn next(self._cb_iter) +106.11sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +106.11sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +106.11sINFOodom_qos_relay.pyraise ExternalShutdownException() +106.11sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +106.23sINFOros2_control_nodeAsync messages lost 0[0m ×2 +106.23sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +106.95sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7789] +106.95sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +106.96sERRORcomponent_container_isolated-1process has died [pid 7622, 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_i5u8kar6 --params-file /tmp/launch_params_wha45j7c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +107.01sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7779] +107.03sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7778] +107.03sINFOui_teleop_bridge-32process has finished cleanly [pid 7784] +107.04sINFOexecute_objective_bridge-31process has finished cleanly [pid 7783] +107.06sINFOparameter_manager_node-24process has finished cleanly [pid 7750] +107.08sINFOwaypoint_manager_node-25process has finished cleanly [pid 7777] +107.08sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7723] +107.08sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7630] +107.09sINFOstatic_transform_publisher-8process has finished cleanly [pid 7629] +107.10sINFOstatic_transform_publisher-7process has finished cleanly [pid 7628] +107.10sERRORlidar_flattener.pyTraceback (most recent call last): +107.10sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +107.10sINFOlidar_flattener.pymain() +107.10sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +107.10sINFOlidar_flattener.pyrclpy.spin(node) +107.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +107.10sINFOlidar_flattener.pyexecutor.spin_once() +107.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +107.10sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +107.10sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +107.11sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +107.11sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +107.11sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +107.11sINFOlidar_flattener.pyreturn next(self._cb_iter) +107.11sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +107.11sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +107.11sINFOlidar_flattener.pyraise ExternalShutdownException() +107.11sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +107.11sINFOcomponent_container_mt-30process has finished cleanly [pid 7782] +107.12sINFOstatic_transform_publisher-4process has finished cleanly [pid 7625] +107.13sINFOstatic_transform_publisher-3process has finished cleanly [pid 7624] +107.14sINFOobjective_server_node[2026-09-18 00:20:39.245] [moveit_pro_license] [info] +107.14sINFOobjective_server_node* Application has successfully terminated +107.15sERRORlidar_flattener.py-6process has died [pid 7627, 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___yh4f69']. +107.16sERRORodom_qos_relay.py-5process has died [pid 7626, 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']. +107.19sINFOobjective_server_node_main-28process has finished cleanly [pid 7780] +107.19sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +108.13sINFOcomponent_container_mt-29process has finished cleanly [pid 7781] +108.74sINFOros2_control_node-11process has finished cleanly [pid 7724] +108.86sINFOweb_bridge-33process has finished cleanly [pid 7785] +108.86sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +109.44sERRORcomponent_container_isolated-2process has died [pid 7623, 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_i5u8kar6 --params-file /tmp/launch_params__k6lt2b6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +114.83sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-00-20-45-380180-2aeebd3d02e0-8687 ×2 +119.39sINFOstatic_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' +119.39sINFOstatic_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' +119.40sINFOstatic_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' +119.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +119.42sINFOstatic_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' +119.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +119.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +119.45sINFOcontroller_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. +119.49sINFOcontroller_serverCreating controller server +119.51sINFOlocal_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. +119.51sINFOlocal_costmap.local_costmapCreating Costmap +119.62sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +119.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +119.63sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +119.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +119.64sINFOcontroller_managerupdate rate is 600 Hz +119.64sINFOcontroller_managerOverruns handling is : enabled +119.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +119.64sWARNcontroller_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. +119.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +119.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +119.66sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +119.66sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +119.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943286 ms (missed cycles : 2). +119.68sINFOros2_control_node-11process started with pid [8839] ×2 +119.68sINFOmove_group-23process started with pid [8857] ×2 +119.68sINFOparameter_manager_node-24process started with pid [8858] ×2 +119.68sINFOwaypoint_manager_node-25process started with pid [8893] ×2 +119.68sINFOmove_joint_resampler_node-26process started with pid [8894] ×2 +119.68sINFOmove_end_effector_resampler_node-27process started with pid [8895] ×2 +119.68sINFOobjective_server_node_main-28process started with pid [8901] ×2 +119.68sINFOcomponent_container_mt-29process started with pid [8916] ×2 +119.68sINFOcomponent_container_mt-30process started with pid [8917] ×2 +119.68sINFOexecute_objective_bridge-31process started with pid [8918] ×2 +119.68sINFOui_teleop_bridge-32process started with pid [8919] ×2 +119.68sINFOweb_bridge-33process started with pid [8920] ×2 +119.68sINFOtf2_web_republisher_node-34process started with pid [8921] ×2 +119.68sINFOvideo_server-35process started with pid [8924] ×2 +119.68sINFOweb_bridge_auth_proxy-36process started with pid [8925] ×2 +119.68sINFOweb_video_auth_proxy-37process started with pid [8933] ×2 +119.68sINFOcomponent_container_isolated-1process started with pid [8737] ×2 +119.68sINFOcomponent_container_isolated-2process started with pid [8738] ×2 +119.68sINFOstatic_transform_publisher-3process started with pid [8739] ×2 +119.68sINFOstatic_transform_publisher-4process started with pid [8740] ×2 +119.68sINFOodom_qos_relay.py-5process started with pid [8741] ×2 +119.68sINFOlidar_flattener.py-6process started with pid [8742] ×2 +119.68sINFOstatic_transform_publisher-7process started with pid [8743] ×2 +119.68sINFOstatic_transform_publisher-8process started with pid [8744] ×2 +119.68sINFOscan_to_scan_filter_chain-9process started with pid [8745] ×2 +119.68sINFOscan_to_scan_filter_chain-10process started with pid [8838] ×2 +119.68sINFOros2-12process started with pid [8840] ×2 +119.68sINFOros2-13process started with pid [8843] ×2 +119.68sINFOros2-14process started with pid [8844] ×2 +119.68sINFOros2-15process started with pid [8845] ×2 +119.68sINFOros2-16process started with pid [8848] ×2 +119.68sINFOros2-17process started with pid [8849] ×2 +119.68sINFOros2-18process started with pid [8850] ×2 +119.68sINFOros2-19process started with pid [8851] ×2 +119.68sINFOros2-20process started with pid [8854] ×2 +119.68sINFOsmoother_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. +119.69sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +119.70sINFOros2-21process started with pid [8855] ×2 +119.70sINFOros2-22process started with pid [8856] ×2 +119.72sINFOsmoother_serverCreating smoother server +119.72sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +119.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943286 ms (missed cycles : 2).[0m ×2 +119.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +119.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +119.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +119.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +119.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +119.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +119.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +119.83sINFOplanner_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. +119.85sINFOmap_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. +119.85sINFOmap_serverCreating +119.86sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +119.87sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +119.88sINFOplanner_serverCreating +119.88sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +119.90sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +119.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +119.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +119.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +119.93sINFOglobal_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. +119.93sINFOglobal_costmap.global_costmapCreating Costmap +119.97sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +119.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +119.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +119.99sINFOrobot_state_publisherRobot initialized +119.99sINFOcontroller_managerReceived robot description from topic. +119.99sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +119.99sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +120.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.01sINFObehavior_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. +120.02sINFOlifecycle_manager_localizationCreating +120.03sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +120.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +120.05sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +120.06sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +120.06sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +120.06sINFOmap_serverConfiguring +120.06sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +120.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +120.07sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +120.08sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +120.08sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +120.09sINFOvideo_server2026/09/18 00:20:52 INF MediaMTX v1.20.1, linux, amd64 ×2 +120.09sINFOvideo_server2026/09/18 00:20:52 INF configuration loaded from /tmp/moveit-webrtc-0myljcps/mediamtx.yml ×2 +120.09sINFOvideo_server2026/09/18 00:20:52 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +120.09sINFOvideo_server2026/09/18 00:20:52 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +120.10sINFObt_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. +120.11sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +120.11sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +120.12sINFObt_navigatorCreating +120.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +120.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +120.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +120.16sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +120.17sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +120.17sINFOamclConfiguring +120.18sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +120.18sINFOmap_serverActivating +120.18sINFOwaypoint_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. +120.19sINFOmap_serverCreating bond (map_server) to lifecycle manager. +120.19sINFOwaypoint_followerCreating +120.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +120.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +120.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +120.24sINFOvelocity_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. +120.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +120.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.30sINFOlifecycle_manager_localizationServer map_server connected with bond. +120.30sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +120.30sINFOamclActivating +120.30sINFOamclSubscribed to initial_pose_topic: /initialpose +120.30sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +120.31sINFOlifecycle_manager_navigationCreating +120.32sINFOamclSubscribed to map_topic: /map +120.32sINFOamclSubscribed to scan_topic: /scan_merged +120.32sINFOamclCreated reinitialize_global_localization service +120.32sINFOamclCreated request_nomotion_update service +120.33sINFOamclA new map was received +120.33sINFOamclInitializing particle filter instance +120.33sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +120.36sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +120.36sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +120.36sINFOcontroller_serverConfiguring controller interface +120.36sINFOcontroller_servergetting progress checker plugins.. +120.36sINFOcontroller_servergetting goal checker plugins.. +120.36sINFOcontroller_serverController frequency set to 20.0000Hz +120.36sINFOlocal_costmap.local_costmapConfiguring +120.38sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +120.39sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +120.42sWARNlaser_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. +120.43sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +120.43sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +120.43sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +120.46sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +120.47sINFOcontroller_serverController Server has progress_checker progress checkers available. +120.47sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +120.48sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +120.48sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +120.50sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +120.52sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +120.52sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +120.52sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +120.52sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +120.53sWARNlaser_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. +120.53sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +120.53sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +120.53sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +120.53sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +120.54sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +120.54sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +120.54sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +120.54sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +120.54sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +120.54sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +120.54sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +120.55sINFOcontroller_serverOptimizer reset ×2 +120.56sINFOcontroller_serverController Server has FollowPath controllers available. +120.57sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +120.57sINFOsmoother_serverConfiguring smoother server +120.59sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +120.59sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +120.60sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +120.60sINFOplanner_serverConfiguring +120.60sINFOglobal_costmap.global_costmapConfiguring +120.61sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +120.62sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +120.62sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +120.62sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +120.63sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +120.67sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +120.67sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +120.68sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +120.74sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +120.74sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +120.75sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +120.75sINFOplanner_serverPlanner Server has GridBased planners available. +120.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862511 ms (missed cycles : 3). +120.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862511 ms (missed cycles : 3).[0m ×2 +120.79sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +120.79sINFObehavior_serverConfiguring +120.80sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +120.81sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +120.81sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +120.81sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +120.82sINFOamclParticle filter initialization completed +120.82sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +120.82sINFOamclInitializing particles from estimated pose and covariance +120.82sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +120.82sINFOamclThe bond connection to the lifecycle manager is now fully formed +120.83sINFOlifecycle_manager_localizationServer amcl connected with bond. +120.83sINFObehavior_serverConfiguring spin +120.83sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +120.83sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +120.84sINFObehavior_serverConfiguring backup +120.86sINFObehavior_serverConfiguring drive_on_heading +120.88sINFObehavior_serverConfiguring assisted_teleop +120.90sINFObehavior_serverConfiguring wait +120.91sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.506337 seconds +120.91sINFOmove_groupLoaded robot model in 0.506337 seconds[0m ×2 +120.91sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +120.91sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +120.91sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +120.91sINFObt_navigatorConfiguring +120.92sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +120.92sWARNbt_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 +120.93sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +121.06sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +121.13sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +121.13sINFOwaypoint_followerConfiguring +121.19sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +121.20sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +121.20sINFOvelocity_smootherConfiguring velocity smoother +121.21sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +121.21sINFOcontroller_serverActivating +121.21sINFOlocal_costmap.local_costmapActivating +121.21sINFOlocal_costmap.local_costmapChecking transform +121.21sINFOlocal_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. ×9 +121.30sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.31sWARNmove_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. +121.41sINFOwaypoint_manager_nodeLoaded robot model in 0.273798 seconds[0m ×2 +121.52sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +121.52sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +121.54sINFOmove_group[2026-09-18 00:20:53.651] [moveit_pro_license] [info] ×2 +121.82sWARNwaypoint_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. +121.82sWARNwaypoint_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. +121.83sWARNwaypoint_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. +121.83sWARNwaypoint_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. +121.83sWARNwaypoint_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. +121.83sWARNwaypoint_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. +121.83sWARNwaypoint_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. +121.83sWARNwaypoint_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. +121.84sWARNwaypoint_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. +121.84sWARNwaypoint_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. +121.84sWARNwaypoint_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. +121.84sWARNwaypoint_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. +121.84sWARNwaypoint_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. +121.84sWARNwaypoint_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. +121.85sWARNwaypoint_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. +121.85sWARNwaypoint_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. +121.85sWARNwaypoint_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. +121.85sWARNwaypoint_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. +121.85sWARNwaypoint_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. +121.85sWARNwaypoint_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. +121.86sWARNwaypoint_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. +121.86sWARNwaypoint_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. +121.86sWARNwaypoint_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. +121.86sWARNwaypoint_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. +121.86sWARNwaypoint_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. +121.87sWARNwaypoint_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. +121.87sWARNwaypoint_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. +121.87sWARNwaypoint_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. +121.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592510 ms (missed cycles : 2). +121.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592510 ms (missed cycles : 2).[0m ×2 +122.02sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +122.02sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +122.02sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +122.02sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +122.02sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +122.02sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +122.02sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +122.02sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +122.02sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +122.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +122.03sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +122.18sINFOwaypoint_manager_node[2026-09-18 00:20:54.292] [moveit_pro_license] [info] ×2 +122.39sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +122.39sINFOcontroller_managerActivating component 'ur_mujoco_control'. +122.39sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +122.39sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +122.43sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +122.43sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +122.44sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +122.44sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +122.48sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +122.50sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +122.50sINFOplatform_velocity_controller_nav2configure successful +122.66sINFOobjective_server_node[2026-09-18 00:20:54.765] [moveit_pro_license] [info] ×2 +122.73sINFOobjective_server_nodeLoaded robot model in 0.0295766 seconds[0m ×2 +122.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +122.76sINFOcontroller_managerLoading controller 'velocity_force_controller' +122.78sINFOros2-17process has finished cleanly [pid 8849] ×2 +122.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +122.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.90sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +122.90sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +122.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +122.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +122.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +122.93sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +122.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +122.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +122.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +122.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +122.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +122.94sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +122.94sINFOstreaming_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) +122.95sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +122.95sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +122.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +122.99sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +122.99sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +123.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674410 ms (missed cycles : 2). +123.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674410 ms (missed cycles : 2).[0m ×2 +123.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +123.13sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +123.13sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +123.14sINFOstreaming_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) +123.15sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +123.17sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +123.17sWARNobjective_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. +123.17sWARNobjective_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. +123.17sWARNobjective_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. +123.17sWARNobjective_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. +123.18sWARNobjective_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. +123.18sWARNobjective_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. +123.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +123.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +123.18sWARNobjective_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. +123.18sWARNobjective_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. +123.18sWARNobjective_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. +123.18sWARNobjective_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. +123.37sINFOros2_control_node[2026-09-18 00:20:55.478] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +123.37sINFOros2_control_node[2026-09-18 00:20:55.481] [info] Controller state will be published at 10 Hz. ×2 +123.37sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +123.37sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +123.37sINFOros2_control_node[2026-09-18 00:20:55.482] [info] VelocityForceController 'on_configure' succeeded. ×2 +123.63sINFOcomponent_container_mtLoaded robot model in 0.43226 seconds[0m ×2 +123.68sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +123.68sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +123.69sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +123.69sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +123.70sINFOros2-19process has finished cleanly [pid 8851] ×2 +123.78sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +123.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +123.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +123.79sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +123.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +123.79sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +123.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +123.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +123.89sINFOmove_groupMoveGroup debug mode is ON +123.96sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +124.00sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +124.00sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +124.02sWARNplanning_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. +124.02sWARNplanning_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. +124.02sWARNplanning_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. +124.02sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.03sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.04sWARNplanning_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. +124.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013033 ms (missed cycles : 2). +124.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013033 ms (missed cycles : 2).[0m ×2 +124.06sINFOmove_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 ******************************************************** +124.07sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +124.07sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +124.08sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +124.08sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +124.13sINFOros2-18process has finished cleanly [pid 8850] ×2 +124.14sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +124.14sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +124.15sINFOforce_torque_sensor_broadcasterconfigure successful +124.15sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +124.15sINFOcontroller_managerSuccessfully switched controllers! ×20 +124.15sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +124.27sINFOcomponent_container_mt[2026-09-18 00:20:56.384] [moveit_pro_license] [info] ×2 +124.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +124.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +124.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +124.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +124.49sINFOros2-12process has finished cleanly [pid 8840] ×2 +124.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 +124.49sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +124.49sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +124.82sINFOros2_control_node[2026-09-18 00:20:56.925] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +124.82sINFOros2_control_node[2026-09-18 00:20:56.926] [info] Controller state will be published at 10 Hz. ×2 +124.82sINFOros2_control_node[2026-09-18 00:20:56.927] [info] VelocityForceController 'on_configure' succeeded. ×2 +125.02sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789690855.499 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +125.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427294 ms (missed cycles : 2). +125.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427294 ms (missed cycles : 2).[0m ×2 +125.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +125.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' +125.12sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +125.12sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +125.15sINFOros2-20process has finished cleanly [pid 8854] ×2 +125.17sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +125.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +125.18sINFOplatform_velocity_controllerconfigure successful +125.19sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +125.19sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +125.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +125.48sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +125.48sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +125.49sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +125.49sINFOros2-15process has finished cleanly [pid 8845] ×2 +125.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +125.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +125.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +125.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +125.55sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +125.71sINFOlocal_costmap.local_costmapstart +125.81sWARNcontroller_serverParameter controller_server.verbose not found +125.82sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +125.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +125.88sINFOcontroller_managerLoading controller 'vacuum_gripper' +125.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +125.89sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +125.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +125.92sINFOros2-14process has finished cleanly [pid 8844] ×2 +125.93sINFOlifecycle_manager_navigationServer controller_server connected with bond. +125.93sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +125.93sINFOsmoother_serverActivating +125.93sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +125.93sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +125.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +125.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +125.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +125.94sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +126.03sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +126.03sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +126.03sINFOplanner_serverActivating +126.03sINFOglobal_costmap.global_costmapActivating +126.03sINFOglobal_costmap.global_costmapChecking transform +126.03sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Could not find a connection between 'map' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. +126.15sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789690857.512 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +126.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +126.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357625 ms (missed cycles : 2). +126.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357625 ms (missed cycles : 2).[0m ×2 +126.27sINFOros2-16process has finished cleanly [pid 8848] ×2 +126.31sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +126.31sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +126.34sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 7.169ms +126.36sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +126.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +126.53sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789690858.624075, but only time 1789690858.968881 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +126.69sINFOros2_control_node[2026-09-18 00:20:58.798] [info] Controller state will be published at 20 Hz. ×2 +126.69sINFOros2_control_node[2026-09-18 00:20:58.799] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' +127.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +127.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +127.02sINFOros2-22process has finished cleanly [pid 8856] ×2 +127.03sINFOglobal_costmap.global_costmapstart +127.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +127.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +127.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831704 ms (missed cycles : 2). +127.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831704 ms (missed cycles : 2).[0m ×2 +127.40sINFOros2_control_node[2026-09-18 00:20:59.513] [info] Controller state will be published at 20 Hz. ×2 +127.40sINFOros2_control_node[2026-09-18 00:20:59.513] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.75sINFOros2-21process has finished cleanly [pid 8855] ×2 +127.75sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +127.75sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +127.76sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn +127.76sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_9k2qp_t8 --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_7jf3zf9w --params-file /tmp/launch_params_3337wxdn [0m ×2 +127.80sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +127.80sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +127.81sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +127.81sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +127.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +127.96sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +127.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +127.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +127.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +128.08sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +128.08sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +128.11sINFOros2-13process has finished cleanly [pid 8843] ×2 +128.19sINFOlifecycle_manager_navigationServer planner_server connected with bond. +128.19sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +128.19sINFObehavior_serverActivating +128.19sINFObehavior_serverActivating spin +128.19sINFObehavior_serverActivating backup +128.19sINFObehavior_serverActivating drive_on_heading +128.19sINFObehavior_serverActivating assisted_teleop +128.19sINFObehavior_serverActivating wait +128.19sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +128.29sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +128.29sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +128.29sINFObt_navigatorActivating +128.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431980 ms (missed cycles : 2). +128.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431980 ms (missed cycles : 2).[0m ×2 +128.35sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +128.45sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +128.45sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +128.45sINFOwaypoint_followerActivating +128.45sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +128.55sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +128.55sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +128.56sINFOvelocity_smootherActivating +128.56sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +128.66sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +128.66sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +128.66sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +129.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051545 ms (missed cycles : 2). +129.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051545 ms (missed cycles : 2).[0m ×2 +130.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). +130.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 +131.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). +131.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 +132.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). +132.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 +133.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +133.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +133.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +133.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +133.10sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +133.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 +133.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +133.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +133.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 +133.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). +133.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 +134.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +134.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +134.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 +134.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). +134.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 +134.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +135.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.02sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +135.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +135.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 +135.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +135.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +135.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +135.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +135.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). +135.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 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/objectives

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− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394913 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2

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

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317942 ms (missed cycles : 3).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366599 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.47sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.47sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.47sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.47sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.47sINFOobjective_server_nodecaller: ×10 + 1.47sINFOobjective_server_nodetype: 0 ×10 + 1.47sINFOobjective_server_nodename: "" ×10 + 1.47sINFOobjective_server_nodeinstance_id: "" ×10 + 1.47sINFOobjective_server_node ×10 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690865.20397902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.52sINFOmove_groupClearing octomap...[0m ×4 + 1.52sINFOmove_groupOctomap cleared.[0m ×4 + 1.52sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.52sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690865.21416020 seconds ×3 + 2.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.06sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690865.78663588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690865.79675078 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401666 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690866.37277365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690866.52356100 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414800 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690867.11876702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690867.16888714 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690867.74461555 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358582 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142901 ms (missed cycles : 3).[0m ×2 + 5.43sINFOjoint_trajectory_controllerReceived new action goal + 5.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.43sINFOjoint_trajectory_controllerAccepted new action goal + 5.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746898 ms (missed cycles : 3).[0m ×2