80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 24 errors · 33 warnings · 250 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459952 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459952 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.08sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.08sINFOobjective_server_nodecaller: ×8 + 3.08sINFOobjective_server_nodetype: 0 ×8 + 3.08sINFOobjective_server_nodename: "" ×8 + 3.08sINFOobjective_server_nodeinstance_id: "" ×8 + 3.08sINFOobjective_server_node ×8 + 3.10sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.82sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 3.83sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 3.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 5.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.76sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 6.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.04sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 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 2.579967 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 1.56sINFOjoint_trajectory_controllerGoal reached, success! + 1.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.15sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.15sINFOobjective_server_nodecaller: ×8 + 2.15sINFOobjective_server_nodetype: 0 ×8 + 2.15sINFOobjective_server_nodename: "" ×8 + 2.15sINFOobjective_server_nodeinstance_id: "" ×8 + 2.15sINFOobjective_server_node ×8 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.88sWARNobjective_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 + 2.88sERRORobjective_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 + 2.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.80sINFOmove_groupClearing octomap...[0m ×2 + 4.80sINFOmove_groupOctomap cleared.[0m ×2 + 4.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2).[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691063.66702247 seconds ×3 + 7.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691064.24561858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229056 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229056 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286851 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286851 ms (missed cycles : 2).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937795 ms (missed cycles : 3). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937795 ms (missed cycles : 3).[0m ×2 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_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 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_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 + 3.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789691051.21006632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828110 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828110 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: 1789691051.91024423 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736204 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736204 ms (missed cycles : 2).[0m ×2 + 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: 1789691052.51033688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249142 ms (missed cycles : 4). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249142 ms (missed cycles : 4).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246964 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246964 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 39 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.63sINFOobjective_server_nodecaller: ×8 + 0.63sINFOobjective_server_nodetype: 0 ×8 + 0.63sINFOobjective_server_nodename: "" ×8 + 0.63sINFOobjective_server_nodeinstance_id: "" ×8 + 0.63sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 2.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515250 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515250 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 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ 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 - 1.341ms + 0.17sINFOjoint_trajectory_controllerGoal reached, success! + 0.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 0.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.74sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.74sINFOobjective_server_nodecaller: ×10 + 0.74sINFOobjective_server_nodetype: 0 ×10 + 0.74sINFOobjective_server_nodename: "" ×10 + 0.74sINFOobjective_server_nodeinstance_id: "" ×10 + 0.74sINFOobjective_server_node ×10 + 0.77sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 0.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.49sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.49sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 1.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.00sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 + 7.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.2s | 30 errors · 39 warnings · 275 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.89sINFOobjective_server_nodecaller: ×10 + 1.89sINFOobjective_server_nodetype: 0 ×10 + 1.89sINFOobjective_server_nodename: "" ×10 + 1.89sINFOobjective_server_nodeinstance_id: "" ×10 + 1.89sINFOobjective_server_node ×10 + 1.92sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 1.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.64sWARNobjective_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. ×15 + 2.64sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.11sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 138 warnings · 393 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.50sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.50sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.50sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891346 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891346 ms (missed cycles : 2).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920871 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920871 ms (missed cycles : 2).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021928 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021928 ms (missed cycles : 3).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445303 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445303 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862166 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862166 ms (missed cycles : 2).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799287 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799287 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818146 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818146 ms (missed cycles : 2).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 3.000ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726109 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726109 ms (missed cycles : 2).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977732 ms (missed cycles : 2).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021254 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741530 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741530 ms (missed cycles : 2).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183763 ms (missed cycles : 4). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.183763 ms (missed cycles : 4).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531927 ms (missed cycles : 3). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531927 ms (missed cycles : 3).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874212 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874212 ms (missed cycles : 2).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406875 ms (missed cycles : 4). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406875 ms (missed cycles : 4).[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258472 ms (missed cycles : 2). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258472 ms (missed cycles : 2).[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141849 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141849 ms (missed cycles : 2).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399682 ms (missed cycles : 3). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399682 ms (missed cycles : 3).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178690 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178690 ms (missed cycles : 2).[0m ×2 + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507809 ms (missed cycles : 2). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507809 ms (missed cycles : 2).[0m ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761809 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761809 ms (missed cycles : 2).[0m ×2 + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311451 ms (missed cycles : 2). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311451 ms (missed cycles : 2).[0m ×2 + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042551 ms (missed cycles : 2). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042551 ms (missed cycles : 2).[0m ×2 + 31.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977579 ms (missed cycles : 3). + 31.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977579 ms (missed cycles : 3).[0m ×2 + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262301 ms (missed cycles : 2). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262301 ms (missed cycles : 2).[0m ×2 + 33.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668197 ms (missed cycles : 2). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668197 ms (missed cycles : 2).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405232 ms (missed cycles : 4). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405232 ms (missed cycles : 4).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653973 ms (missed cycles : 2). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653973 ms (missed cycles : 2).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670361 ms (missed cycles : 2). + 37.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670361 ms (missed cycles : 2).[0m ×2 + 38.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704069 ms (missed cycles : 3). + 38.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704069 ms (missed cycles : 3).[0m ×2 + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729310 ms (missed cycles : 2). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729310 ms (missed cycles : 2).[0m ×2 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774632 ms (missed cycles : 2). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774632 ms (missed cycles : 2).[0m ×2 + 41.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376704 ms (missed cycles : 4). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376704 ms (missed cycles : 4).[0m ×2 + 42.05sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 2.001ms + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378229 ms (missed cycles : 3). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378229 ms (missed cycles : 3).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2).[0m ×2 + 46.06sINFOjoint_trajectory_controllerGoal reached, success! + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2). + 46.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2).[0m ×2 + 46.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789691028.66771555 seconds ×3 + 46.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.65sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789691029.24752021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3).[0m ×2 + 47.75sINFOobjective_server_nodeFound path in 0 iterations (2.5194e-05 s). ×2 + 47.80sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2).[0m ×2 + 49.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2).[0m ×2 + 49.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 50.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.3s | 108 errors · 33 warnings · 502 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 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_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 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_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 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.61sINFOmove_groupClearing octomap...[0m ×2 + 0.61sINFOmove_groupOctomap cleared.[0m ×2 + 0.61sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691063.66702247 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691064.24561858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789691064.84574151 seconds ×3 + 4.19sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778968 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778968 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995115 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995115 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787794 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787794 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693770 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693770 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737681 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737681 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198179 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198179 ms (missed cycles : 2).[0m ×2 + 9.98sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.02sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.03sERRORweb_video_auth_proxy-37process has died [pid 8922, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.03sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.03sERRORweb_bridge_auth_proxy-36process has died [pid 8919, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.03sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.04sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.05sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.06sINFOvideo_server-35process has finished cleanly [pid 8916] ×2 + 10.06sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.07sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.08sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.09sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.10sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.11sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.12sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.13sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.14sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.15sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.15sINFOcontroller_managerShutdown request received.... + 10.15sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.15sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.15sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.15sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.15sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.15sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.15sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.15sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.16sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.16sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.16sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.16sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.16sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.16sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.16sINFOcontroller_managerShutting down the controller manager. + 10.16sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.17sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.18sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.18sERRORmove_group-23process has died [pid 8863, 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_hyjoiry6 --params-file /tmp/launch_params_6fclp1jx --params-file /tmp/launch_params_2yzsus9d --params-file /tmp/launch_params_mv74r5zn --params-file /tmp/launch_params_btumi0nc --params-file /tmp/launch_params_hfjzidxx']. ×2 + 10.19sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.20sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.21sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.21sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.22sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.23sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.23sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.23sINFOmap_serverDeactivating + 10.23sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.24sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.24sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.24sINFOcontroller_serverDeactivating + 10.24sINFOlocal_costmap.local_costmapDeactivating + 10.24sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.24sINFOvideo_server2026/09/18 00:24:30 INF shutting down gracefully ×2 + 10.24sINFOvideo_server2026/09/18 00:24:30 INF [WebRTC] closing ×2 + 10.24sINFOvideo_server2026/09/18 00:24:30 INF [RTSP] closing ×2 + 10.24sINFOvideo_server2026/09/18 00:24:30 INF waiting for running hooks ×2 + 10.24sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmap_serverCleaning up + 10.24sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.24sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.24sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.24sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.24sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.24sERRORmove_groupStack trace (most recent call last) in thread 9515: ×2 + 10.24sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.25sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8515c46a63, in __clone ×2 + 10.25sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8515bb9aa3, in ×2 + 10.25sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8515e4bdb3, in ×2 + 10.25sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f85165afb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.25sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f85161dd620, in rclcpp::Rate::sleep() ×2 + 10.25sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f851611fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.25sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f85160e1087, in ×2 + 10.25sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8515e1a390, in __cxa_throw ×2 + 10.25sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8515e04a54, in std::terminate() ×2 + 10.25sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8515e1a0d9, in ×2 + 10.25sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8515e04ff4, in ×2 + 10.25sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8515b458fe, in abort ×2 + 10.25sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8515b6227d, in raise ×2 + 10.25sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8515bbbb2c, in pthread_kill ×2 + 10.25sERRORmove_groupAborted (Signal sent by tkill() 8863 0) ×2 + 10.25sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.25sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.25sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.25sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.25sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.25sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.25sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.25sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.25sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.25sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.25sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.25sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.25sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.25sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.25sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.25sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.25sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.25sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.25sINFOodom_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 + 10.25sINFOodom_qos_relay.pymain() ×2 + 10.25sINFOodom_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 + 10.25sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.25sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.25sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.25sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.25sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.25sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.25sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.25sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.25sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.25sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.25sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.25sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.25sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.25sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.25sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.26sERRORamclThe bond connection to the lifecycle manager has been broken + 10.32sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.33sINFOcontroller_serverCleaning up + 10.33sINFOlocal_costmap.local_costmapCleaning up + 10.37sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.37sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.37sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.37sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.37sINFOsmoother_serverDeactivating + 10.37sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.38sINFOsmoother_serverCleaning up + 10.40sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.40sINFOplanner_serverDeactivating + 10.40sINFOglobal_costmap.global_costmapDeactivating + 10.48sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.48sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.48sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.48sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.48sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.48sINFOvelocity_smootherDeactivating + 10.48sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.59sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.59sINFOwaypoint_followerDeactivating + 10.59sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.71sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.71sINFObt_navigatorDeactivating + 10.71sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.82sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.82sINFObehavior_serverDeactivating + 10.82sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.93sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.93sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.93sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.94sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.94sINFOvelocity_smootherCleaning up + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.94sINFOwaypoint_followerCleaning up + 10.97sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.97sINFObt_navigatorCleaning up + 11.10sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8915] ×2 + 11.10sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.15sINFObt_navigatorCompleted Cleaning up + 11.15sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.15sINFObehavior_serverCleaning up + 11.16sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8904] ×2 + 11.17sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8903] ×2 + 11.17sINFOui_teleop_bridge-32process has finished cleanly [pid 8909] ×2 + 11.18sINFOexecute_objective_bridge-31process has finished cleanly [pid 8908] ×2 + 11.20sINFOparameter_manager_node-24process has finished cleanly [pid 8864] ×2 + 11.21sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.21sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.21sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.21sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.21sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.21sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.21sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8848] ×2 + 11.22sINFOwaypoint_manager_node-25process has finished cleanly [pid 8902] ×2 + 11.22sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8755] ×2 + 11.23sINFOstatic_transform_publisher-8process has finished cleanly [pid 8754] ×2 + 11.24sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.24sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.24sINFOstatic_transform_publisher-7process has finished cleanly [pid 8753] ×2 + 11.24sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.24sINFOlidar_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 + 11.24sINFOlidar_flattener.pymain() ×2 + 11.24sINFOlidar_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 + 11.24sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.24sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.24sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.24sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.24sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.24sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.24sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.24sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.24sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.24sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.25sINFOcomponent_container_mt-30process has finished cleanly [pid 8907] ×2 + 11.25sINFOplanner_serverCleaning up + 11.26sINFOstatic_transform_publisher-4process has finished cleanly [pid 8750] ×2 + 11.27sINFOstatic_transform_publisher-3process has finished cleanly [pid 8749] ×2 + 11.27sINFOglobal_costmap.global_costmapCleaning up + 11.28sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.28sINFOobjective_server_node[2026-09-18 00:24:32.163] [moveit_pro_license] [info] ×2 + 11.28sINFOobjective_server_node************************************************* ×4 + 11.28sINFOobjective_server_node* MoveIt Pro License ×2 + 11.28sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.28sINFOobjective_server_node* Application has successfully terminated ×2 + 11.29sERRORlidar_flattener.py-6process has died [pid 8752, 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_m6cmhw7v']. ×2 + 11.30sERRORodom_qos_relay.py-5process has died [pid 8751, 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 + 11.31sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.31sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.31sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.31sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.31sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.33sINFOobjective_server_node_main-28process has finished cleanly [pid 8905] ×2 + 11.33sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.62sERRORcomponent_container_isolated-2process has died [pid 8748, 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_rl_eplgp --params-file /tmp/launch_params_p2rgeglp -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.63sERRORcomponent_container_isolated-1process has died [pid 8747, 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_rl_eplgp --params-file /tmp/launch_params_yhppfdsc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.89sINFOros2_control_node-11process has finished cleanly [pid 8849] ×2 + 13.08sINFOweb_bridge-33process has finished cleanly [pid 8914] ×2 + 13.08sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 14.98sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 14.98sINFOcomponent_container_mt-29sending signal 'SIGKILL' to process[component_container_mt-29] ×2 + 15.00sERRORcomponent_container_mt-29process has died [pid 8906, exit code -9, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_mt --ros-args --log-level info --ros-args -r __node:=moveit_studio_container -r __ns:=/']. ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 30 errors · 66 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 0.25sWARNobjective_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 + 0.25sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 0.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.81sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.81sINFOobjective_server_nodecaller: ×10 + 0.81sINFOobjective_server_nodetype: 0 ×10 + 0.81sINFOobjective_server_nodename: "" ×10 + 0.81sINFOobjective_server_nodeinstance_id: "" ×10 + 0.81sINFOobjective_server_node ×10 + 0.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 1.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 + 4.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515250 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515250 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992375 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992375 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314703 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314703 ms (missed cycles : 2).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759373 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759373 ms (missed cycles : 2).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229056 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.229056 ms (missed cycles : 4).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286851 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286851 ms (missed cycles : 2).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937795 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937795 ms (missed cycles : 3).[0m ×2 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.09sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789691051.21006632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828110 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828110 ms (missed cycles : 2).[0m ×2 + 14.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789691051.91024423 seconds ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736204 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736204 ms (missed cycles : 2).[0m ×2 + 15.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.36sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789691052.51033688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOjoint_trajectory_controllerReceived new action goal + 15.79sINFOjoint_trajectory_controllerAccepted new action goal + 15.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249142 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249142 ms (missed cycles : 4).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246964 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246964 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 45 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286851 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937795 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937795 ms (missed cycles : 3).[0m ×2 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.07sINFOobjective_server_nodecaller: ×10 + 2.07sINFOobjective_server_nodetype: 0 ×10 + 2.07sINFOobjective_server_nodename: "" ×10 + 2.07sINFOobjective_server_nodeinstance_id: "" ×10 + 2.07sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789691051.21006632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828110 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828110 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: 1789691051.91024423 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736204 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736204 ms (missed cycles : 2).[0m ×2 + 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: 1789691052.51033688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249142 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249142 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246964 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246964 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 9.16sINFOjoint_trajectory_controllerGoal reached, success! + 9.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 9.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.76sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 9.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 11.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.05sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 12.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.36sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.40sINFOmove_groupClearing octomap...[0m ×2 + 12.40sINFOmove_groupOctomap cleared.[0m ×2 + 12.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 18 errors · 45 warnings · 267 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2). + 2.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789691028.66771555 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.97sINFOobjective_server_nodecaller: ×8 + 2.97sINFOobjective_server_nodetype: 0 ×8 + 2.97sINFOobjective_server_nodename: "" ×8 + 2.97sINFOobjective_server_nodeinstance_id: "" ×8 + 2.97sINFOobjective_server_node ×8 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789691029.24752021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.5194e-05 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.15sINFOjoint_trajectory_controllerReceived new action goal + 4.15sINFOjoint_trajectory_controllerAccepted new action goal + 4.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2).[0m ×2 + 5.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 6.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459952 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459952 ms (missed cycles : 3).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 7.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 7.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 8.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 9.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.04sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.07sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 9.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.79sWARNobjective_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 + 9.79sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 9.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 10.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.42sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.46sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 11.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 11.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 12.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.8s | 12 errors · 33 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 0.47sINFOjoint_trajectory_controllerGoal reached, success! + 0.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.07sINFOobjective_server_nodecaller: ×8 + 1.07sINFOobjective_server_nodetype: 0 ×8 + 1.07sINFOobjective_server_nodename: "" ×8 + 1.07sINFOobjective_server_nodeinstance_id: "" ×8 + 1.07sINFOobjective_server_node ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.79sWARNobjective_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 + 1.80sERRORobjective_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 + 1.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.71sINFOmove_groupClearing octomap...[0m ×2 + 3.71sINFOmove_groupOctomap cleared.[0m ×2 + 3.72sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.72sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691063.66702247 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.42sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691064.24561858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789691064.84574151 seconds ×3 + 7.29sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778968 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778968 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995115 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995115 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.15sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.50sINFOjoint_trajectory_controllerReceived new action goal + 4.50sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.50sINFOjoint_trajectory_controllerAccepted new action goal + 4.50sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2). + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789691028.66771555 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789691029.24752021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.5194e-05 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOjoint_trajectory_controllerReceived new action goal + 4.15sINFOjoint_trajectory_controllerAccepted new action goal + 4.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2).[0m ×2 + 5.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 6.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860247 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735584 ms (missed cycles : 2).[0m ×2 + 2.38sINFOjoint_trajectory_controllerGoal reached, success! + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2). + 2.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731610 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789691028.66771555 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789691029.24752021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257676 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.5194e-05 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOjoint_trajectory_controllerReceived new action goal + 4.15sINFOjoint_trajectory_controllerAccepted new action goal + 4.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030406 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851266 ms (missed cycles : 2).[0m ×2 + 5.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 6.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 errors · 27 warnings · 197 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 0.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459952 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459952 ms (missed cycles : 3).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 1.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.08sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.08sINFOobjective_server_nodecaller: ×6 + 3.08sINFOobjective_server_nodetype: 0 ×6 + 3.08sINFOobjective_server_nodename: "" ×6 + 3.08sINFOobjective_server_nodeinstance_id: "" ×6 + 3.08sINFOobjective_server_node ×6 + 3.10sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 3.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.82sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 3.83sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 3.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 5.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.76sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 6.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 24 errors · 30 warnings · 247 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.92sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 1.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.64sWARNobjective_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. ×12 + 2.64sERRORobjective_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 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 24 errors · 30 warnings · 247 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.92sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 1.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.64sWARNobjective_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. ×12 + 2.64sERRORobjective_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 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 24 errors · 30 warnings · 247 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.92sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 1.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.64sWARNobjective_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. ×12 + 2.64sERRORobjective_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 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 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 · 247 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.92sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 1.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.64sWARNobjective_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. ×12 + 2.64sERRORobjective_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 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 24 errors · 30 warnings · 247 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 0.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339169 ms (missed cycles : 3).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 1.32sINFOjoint_trajectory_controllerGoal reached, success! + 1.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.35sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789691034.74763966 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505951 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.89sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.89sINFOobjective_server_nodecaller: ×8 + 1.89sINFOobjective_server_nodetype: 0 ×8 + 1.89sINFOobjective_server_nodename: "" ×8 + 1.89sINFOobjective_server_nodeinstance_id: "" ×8 + 1.89sINFOobjective_server_node ×8 + 1.92sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.386ms + 1.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789691035.32482672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.64sWARNobjective_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. ×12 + 2.64sERRORobjective_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 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.31sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 3.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 4.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.54sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.63sINFOobjective_server_nodecaller: ×8 + 0.63sINFOobjective_server_nodetype: 0 ×8 + 0.63sINFOobjective_server_nodename: "" ×8 + 0.63sINFOobjective_server_nodeinstance_id: "" ×8 + 0.63sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 2.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.63sINFOobjective_server_nodecaller: ×8 + 0.63sINFOobjective_server_nodetype: 0 ×8 + 0.63sINFOobjective_server_nodename: "" ×8 + 0.63sINFOobjective_server_nodeinstance_id: "" ×8 + 0.63sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 2.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 36 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789691036.03504729 seconds ×3 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184501 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.63sINFOobjective_server_nodecaller: ×8 + 0.63sINFOobjective_server_nodetype: 0 ×8 + 0.63sINFOobjective_server_nodename: "" ×8 + 0.63sINFOobjective_server_nodeinstance_id: "" ×8 + 0.63sINFOobjective_server_node ×8 + 0.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789691036.70000410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975044 ms (missed cycles : 4).[0m ×2 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789691037.37017560 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 1.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789691037.96824265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815904 ms (missed cycles : 3).[0m ×2 + 2.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789691038.64839339 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420233 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789691039.24687099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789691039.94702959 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626343 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.51sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789691040.54677796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789691041.23693562 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270865 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534940 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008859 ms (missed cycles : 2).[0m ×2 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579967 ms (missed cycles : 2).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! + 2.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.11sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.02sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.03sINFOmove_groupClearing octomap...[0m ×2 + 6.03sINFOmove_groupOctomap cleared.[0m ×2 + 6.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 27 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415047 ms (missed cycles : 3).[0m ×2 + 0.47sINFOjoint_trajectory_controllerGoal reached, success! + 0.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789691058.31045985 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.07sINFOobjective_server_nodecaller: ×8 + 1.07sINFOobjective_server_nodetype: 0 ×8 + 1.07sINFOobjective_server_nodename: "" ×8 + 1.07sINFOobjective_server_nodeinstance_id: "" ×8 + 1.07sINFOobjective_server_node ×8 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761972 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789691058.89095616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.79sWARNobjective_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 + 1.80sERRORobjective_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 + 1.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789691059.58110952 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981289 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789691060.19104052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789691060.89119053 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710000 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789691061.48690724 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.71sINFOmove_groupClearing octomap...[0m ×2 + 3.71sINFOmove_groupOctomap cleared.[0m ×2 + 3.72sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.72sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076013 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234407 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789691063.66702247 seconds ×3 + 6.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.42sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789691064.24561858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322444 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.4s | 77 errors · 502 warnings · 2518 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/2026-09-18-00-20-47-438431-09966bf14ec2-7581 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.87sINFOros2_control_node-11process started with pid [7733] + 4.88sINFOmove_group-23process started with pid [7747] + 4.88sINFOparameter_manager_node-24process started with pid [7748] + 4.88sINFOwaypoint_manager_node-25process started with pid [7786] + 4.88sINFOmove_joint_resampler_node-26process started with pid [7787] + 4.88sINFOmove_end_effector_resampler_node-27process started with pid [7788] + 4.88sINFOobjective_server_node_main-28process started with pid [7789] + 4.88sINFOcomponent_container_mt-29process started with pid [7790] + 4.88sINFOcomponent_container_mt-30process started with pid [7791] + 4.88sINFOexecute_objective_bridge-31process started with pid [7792] + 4.88sINFOui_teleop_bridge-32process started with pid [7793] + 4.88sINFOweb_bridge-33process started with pid [7794] + 4.88sINFOtf2_web_republisher_node-34process started with pid [7795] + 4.89sINFOvideo_server-35process started with pid [7798] + 4.89sINFOweb_bridge_auth_proxy-36process started with pid [7799] + 4.89sINFOweb_video_auth_proxy-37process started with pid [7800] + 4.89sINFOcomponent_container_isolated-1process started with pid [7631] + 4.89sINFOcomponent_container_isolated-2process started with pid [7632] + 4.89sINFOstatic_transform_publisher-3process started with pid [7633] + 4.89sINFOstatic_transform_publisher-4process started with pid [7634] + 4.89sINFOodom_qos_relay.py-5process started with pid [7635] + 4.89sINFOlidar_flattener.py-6process started with pid [7636] + 4.90sINFOstatic_transform_publisher-7process started with pid [7637] + 4.90sINFOstatic_transform_publisher-8process started with pid [7638] + 4.90sINFOscan_to_scan_filter_chain-9process started with pid [7639] + 4.90sINFOscan_to_scan_filter_chain-10process started with pid [7732] + 4.90sINFOros2-12process started with pid [7734] + 4.90sINFOros2-13process started with pid [7735] + 4.90sINFOros2-14process started with pid [7738] + 4.90sINFOros2-15process started with pid [7739] + 4.90sINFOros2-16process started with pid [7740] + 4.90sINFOros2-17process started with pid [7741] + 4.91sINFOros2-18process started with pid [7742] + 4.91sINFOros2-19process started with pid [7743] + 4.91sINFOros2-20process started with pid [7744] + 4.91sINFOros2-21process started with pid [7745] + 4.91sINFOros2-22process started with pid [7746] + 4.95sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.96sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 4.96sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 4.96sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 4.96sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 4.96sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 4.96sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.96sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.96sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.97sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.97sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.97sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 4.97sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 4.97sINFOros2_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 + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.524326 ms (missed cycles : 4).[0m + 5.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.09sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.20sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.23sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.23sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.23sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.27sINFOvideo_server2026/09/18 00:20:54 INF MediaMTX v1.20.1, linux, amd64 + 5.27sINFOvideo_server2026/09/18 00:20:54 INF configuration loaded from /tmp/moveit-webrtc-7p2h_yu1/mediamtx.yml + 5.27sINFOvideo_server2026/09/18 00:20:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.27sINFOvideo_server2026/09/18 00:20:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.29sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.38sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.62sWARNscan_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 + 5.63sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.64sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.84sINFOmove_groupLoaded robot model in 0.302694 seconds[0m + 5.84sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.84sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.041675 ms (missed cycles : 6).[0m + 6.03sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.43sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.43sWARNmove_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 + 6.43sWARNmove_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 + 6.43sWARNmove_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 + 6.43sWARNmove_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 + 6.43sWARNmove_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 + 6.43sWARNmove_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 + 6.43sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.45sINFOwaypoint_manager_nodeLoaded robot model in 0.339202 seconds[0m + 6.45sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.45sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.70sINFOmove_group[2026-09-18 00:20:55.680] [moveit_pro_license] [info] + 6.70sINFOmove_group************************************************* ×6 + 6.70sINFOmove_group* MoveIt Pro License ×3 + 6.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.82sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.82sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.84sINFOros2_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 + 6.84sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689878 ms (missed cycles : 2).[0m + 7.05sINFOwaypoint_manager_node[2026-09-18 00:20:56.026] [moveit_pro_license] [info] + 7.05sINFOwaypoint_manager_node************************************************* ×6 + 7.05sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.05sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.11sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.11sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.11sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.11sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.11sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.12sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.12sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.12sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.12sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.13sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.13sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.46sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.46sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.65sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.65sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.66sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.66sWARNros2_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 + 7.66sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.66sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.66sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.66sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.66sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.66sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.66sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.66sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.66sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.66sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.66sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.66sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.66sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.66sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.66sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.66sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.66sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.66sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.66sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.66sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.79sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 7.79sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 7.80sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 7.83sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 7.83sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 7.84sINFOros2_control_nodeconfigure successful[0m ×9 + 7.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 7.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 7.85sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 7.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 7.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 7.87sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 7.87sINFOobjective_server_node[2026-09-18 00:20:56.854] [moveit_pro_license] [info] + 7.87sINFOobjective_server_node************************************************* ×8 + 7.87sINFOobjective_server_node* MoveIt Pro License ×4 + 7.87sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.87sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 7.88sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 7.88sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 7.88sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 7.88sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 7.88sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 7.88sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 7.89sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 7.89sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 7.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 7.89sINFOcomponent_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 + 7.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 7.93sINFOros2_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 + 7.93sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 7.93sWARNros2_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 + 7.97sINFOobjective_server_nodeLoaded robot model in 0.0392479 seconds[0m + 7.97sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 7.97sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.12sINFOcomponent_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 + 8.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.13sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 8.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 8.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689870 ms (missed cycles : 2).[0m + 8.21sINFOros2-15process has finished cleanly [pid 7739] + 8.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 8.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 8.25sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 8.25sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 8.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 8.25sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 8.26sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 8.26sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 8.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.35sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.35sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.35sWARNobjective_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 + 8.35sWARNobjective_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 + 8.35sWARNobjective_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 + 8.35sWARNobjective_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 + 8.36sWARNobjective_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 + 8.36sWARNobjective_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 + 8.36sWARNobjective_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 + 8.36sWARNobjective_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 + 8.36sWARNobjective_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 + 8.36sWARNobjective_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 + 8.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.38sWARNcomponent_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 + 8.45sINFOobjective_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 + 8.45sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.47sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.52sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 8.52sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 8.53sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 8.54sINFOros2-18process has finished cleanly [pid 7742] + 8.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 8.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 8.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 8.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 8.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 8.66sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.67sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 8.79sINFOcomponent_container_mtLoaded robot model in 0.415482 seconds[0m + 8.79sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.79sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.89sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.89sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 8.92sINFOros2-14process has finished cleanly [pid 7738] + 9.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 9.01sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.01sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 9.06sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.06sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.07sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.07sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.07sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.07sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.07sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.09sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.13sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.14sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.17sINFOmove_group ×12 + 9.17sINFOmove_group******************************************************** ×6 + 9.17sINFOmove_group* MoveGroup using: ×3 + 9.17sINFOmove_group* - apply_planning_scene_service ×3 + 9.17sINFOmove_group* - clear_octomap_service ×3 + 9.17sINFOmove_group* - get_group_urdf ×3 + 9.17sINFOmove_group* - load_geometry_from_file ×3 + 9.17sINFOmove_group* - get_planning_scene_service ×3 + 9.17sINFOmove_group* - kinematics_service ×3 + 9.17sINFOmove_group* - save_geometry_to_file ×3 + 9.17sINFOmove_group* - GetPlanningGroups ×3 + 9.17sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.17sINFOmove_group[0m ×3 + 9.17sINFOmove_group[92mYou can start planning now![0m ×3 + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574344 ms (missed cycles : 3).[0m + 9.30sINFOcomponent_container_mt[2026-09-18 00:20:58.284] [moveit_pro_license] [info] + 9.30sINFOcomponent_container_mt************************************************* ×6 + 9.30sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.30sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.49sINFOros2_control_node[2026-09-18 00:20:58.468] [info] Controller state will be published at 20 Hz. + 9.49sINFOros2_control_node[2026-09-18 00:20:58.469] [info] JointVelocityController 'on_configure' succeeded. + 9.62sWARNros2_control_nodeCamera render tick took 0.89 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 + 9.64sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.64sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.64sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.65sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.81sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 9.81sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 9.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 9.81sINFOros2-21process has finished cleanly [pid 7745] + 9.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 9.89sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 9.94sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 9.94sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 10.24sINFOros2_control_node[2026-09-18 00:20:59.218] [warning] No force/torque sensor configured. The VFC will ignore force references. + 10.24sINFOros2_control_node[2026-09-18 00:20:59.220] [info] Controller state will be published at 10 Hz. + 10.24sINFOros2_control_node[2026-09-18 00:20:59.222] [info] VelocityForceController 'on_configure' succeeded. + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179840 ms (missed cycles : 2).[0m + 10.50sWARNobjective_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 + 10.57sINFOros2-20process has finished cleanly [pid 7744] + 10.57sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.57sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 10.57sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 10.62sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 10.63sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 10.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 10.97sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 10.97sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 10.97sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 10.98sINFOros2-17process has finished cleanly [pid 7741] + 11.03sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 11.05sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 11.05sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 11.06sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756969 ms (missed cycles : 3).[0m + 11.37sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.37sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 11.37sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 11.38sINFOros2-13process has finished cleanly [pid 7735] + 11.42sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 11.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 11.77sINFOros2_control_node[2026-09-18 00:21:00.747] [info] Controller state will be published at 20 Hz. + 11.77sINFOros2_control_node[2026-09-18 00:21:00.747] [info] JointVelocityController 'on_configure' succeeded. + 12.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 12.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 12.10sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 12.10sINFOros2-22process has finished cleanly [pid 7746] + 12.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 12.15sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 12.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 12.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 12.47sINFOros2-12process has finished cleanly [pid 7734] + 12.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 12.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 12.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 12.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 12.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547257 ms (missed cycles : 3).[0m + 12.90sINFOros2_control_node[2026-09-18 00:21:01.881] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.90sINFOros2_control_node[2026-09-18 00:21:01.883] [info] Controller state will be published at 10 Hz. + 12.90sINFOros2_control_node[2026-09-18 00:21:01.884] [info] VelocityForceController 'on_configure' succeeded. + 13.24sINFOros2-19process has finished cleanly [pid 7743] + 13.25sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.25sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.25sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_k5sixjw0 --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_a83t6_jn --params-file /tmp/launch_params_fymwqy2w [0m + 13.27sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.29sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 13.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.30sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.31sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 13.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.49sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278388 ms (missed cycles : 2).[0m + 13.65sINFOros2-16process has finished cleanly [pid 7740] + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370909 ms (missed cycles : 2).[0m + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756693 ms (missed cycles : 2).[0m + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768665 ms (missed cycles : 2).[0m + 17.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404011 ms (missed cycles : 4).[0m + 18.57sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.57sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.57sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.57sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.57sINFOobjective_server_nodecaller: ×27 + 18.57sINFOobjective_server_nodetype: 0 ×27 + 18.57sINFOobjective_server_nodename: "" ×27 + 18.57sINFOobjective_server_nodeinstance_id: "" ×27 + 18.57sINFOobjective_server_node ×27 + 18.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690867.58451128 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.61sINFOmove_groupClearing octomap...[0m ×7 + 18.61sINFOmove_groupOctomap cleared.[0m ×7 + 18.61sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 18.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690867.59468842 seconds + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744674 ms (missed cycles : 2).[0m + 19.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690868.16597486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690868.17890358 seconds + 19.74sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 19.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690868.75536847 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690868.90593028 seconds + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693698 ms (missed cycles : 3).[0m + 20.49sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690869.50867701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.54sINFOobjective_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 + 20.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690869.55876541 seconds + 21.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690870.14417410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147172 ms (missed cycles : 2).[0m + 22.24sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896689 ms (missed cycles : 2).[0m + 22.52sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.52sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664138 ms (missed cycles : 3).[0m + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409184 ms (missed cycles : 3).[0m + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390045 ms (missed cycles : 3).[0m + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750211 ms (missed cycles : 4).[0m + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520218 ms (missed cycles : 2).[0m + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668962 ms (missed cycles : 2).[0m + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776471 ms (missed cycles : 2).[0m + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590714 ms (missed cycles : 3).[0m + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497104 ms (missed cycles : 3).[0m + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047246 ms (missed cycles : 3).[0m + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208920 ms (missed cycles : 2).[0m + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540776 ms (missed cycles : 2).[0m + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993710 ms (missed cycles : 3).[0m + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609294 ms (missed cycles : 3).[0m + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740897 ms (missed cycles : 2).[0m + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264898 ms (missed cycles : 2).[0m + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282874 ms (missed cycles : 2).[0m + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885046 ms (missed cycles : 3).[0m + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035808 ms (missed cycles : 3).[0m + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608314 ms (missed cycles : 2).[0m + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960675 ms (missed cycles : 2).[0m + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512090 ms (missed cycles : 3).[0m + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701836 ms (missed cycles : 2).[0m + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774462 ms (missed cycles : 2).[0m + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612977 ms (missed cycles : 2).[0m + 50.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889319 ms (missed cycles : 2).[0m + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443512 ms (missed cycles : 3).[0m + 53.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426929 ms (missed cycles : 3).[0m + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552671 ms (missed cycles : 3).[0m + 55.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069470 ms (missed cycles : 4).[0m + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521227 ms (missed cycles : 2).[0m + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003233 ms (missed cycles : 3).[0m + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924451 ms (missed cycles : 2).[0m + 59.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815784 ms (missed cycles : 2).[0m + 60.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092074 ms (missed cycles : 3).[0m + 61.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297365 ms (missed cycles : 2).[0m + 62.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846423 ms (missed cycles : 2).[0m + 63.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450908 ms (missed cycles : 2).[0m + 64.18sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789690913.21334267 seconds + 64.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 64.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789690913.79051089 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 2.489801 ms (missed cycles : 2).[0m + 65.84sINFOobjective_server_nodeFound path in 0 iterations (2.0274e-05 s). + 65.90sINFOobjective_server_nodePath shortcutter: [X________________________X] + 65.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622430 ms (missed cycles : 3).[0m + 67.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020100 ms (missed cycles : 2).[0m + 68.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302500 ms (missed cycles : 2).[0m + 69.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191212 ms (missed cycles : 2).[0m + 70.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105716 ms (missed cycles : 2).[0m + 70.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789690919.26063561 seconds + 70.82sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 70.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789690919.84357953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775381 ms (missed cycles : 2).[0m + 71.53sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 71.54sERRORobjective_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 + 71.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789690920.52375937 seconds + 72.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789690921.18593979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262491 ms (missed cycles : 4).[0m + 72.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789690921.85612321 seconds + 73.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031537 ms (missed cycles : 2).[0m + 73.44sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.48sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789690922.46089745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789690923.13106036 seconds + 74.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452966 ms (missed cycles : 2).[0m + 74.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 74.75sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789690923.73109889 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789690924.41128850 seconds + 75.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778896 ms (missed cycles : 2).[0m + 75.99sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.03sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789690925.01182318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703694 ms (missed cycles : 3).[0m + 76.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789690925.71199632 seconds + 77.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302787 ms (missed cycles : 2).[0m + 78.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260676 ms (missed cycles : 2).[0m + 79.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359502 ms (missed cycles : 3).[0m + 80.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179070 ms (missed cycles : 3).[0m + 82.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995111 ms (missed cycles : 2).[0m + 83.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319757 ms (missed cycles : 2).[0m + 84.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500275 ms (missed cycles : 3).[0m + 85.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128986 ms (missed cycles : 2).[0m + 86.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249241 ms (missed cycles : 2).[0m + 87.00sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.05sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789690936.02684379 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500930 ms (missed cycles : 2).[0m + 87.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789690936.69700527 seconds + 88.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778958 ms (missed cycles : 2).[0m + 88.28sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789690937.29805303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661154 ms (missed cycles : 2).[0m + 90.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068283 ms (missed cycles : 4).[0m + 91.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318361 ms (missed cycles : 2).[0m + 92.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202248 ms (missed cycles : 2).[0m + 93.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449561 ms (missed cycles : 2).[0m + 94.11sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789690943.08819318 seconds + 94.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727682 ms (missed cycles : 2).[0m + 94.66sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 94.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789690943.67909789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789690944.37927270 seconds + 95.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737738 ms (missed cycles : 2).[0m + 95.96sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789690944.99105430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789690945.68124175 seconds + 96.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441304 ms (missed cycles : 3).[0m + 97.27sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.31sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789690946.29198408 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479775 ms (missed cycles : 2).[0m + 98.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167820 ms (missed cycles : 2).[0m + 99.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789690948.41212559 seconds + 99.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +100.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.943756 ms (missed cycles : 3).[0m +100.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789690948.98529482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +100.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789690949.62541556 seconds +100.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +102.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779733 ms (missed cycles : 2).[0m +102.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577211 ms (missed cycles : 2).[0m +103.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870567 ms (missed cycles : 2).[0m +104.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888626 ms (missed cycles : 2).[0m +105.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376252 ms (missed cycles : 3).[0m +106.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357592 ms (missed cycles : 3).[0m +107.08sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +107.11sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.11sERRORweb_video_auth_proxy-37process has died [pid 7800, 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']. +107.11sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.11sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.11sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.11sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.12sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +107.13sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.13sERRORweb_bridge_auth_proxy-36process has died [pid 7799, 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']. +107.13sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.13sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.13sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.13sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +107.14sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +107.14sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +107.15sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +107.16sINFOvideo_server-35process has finished cleanly [pid 7798] +107.16sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +107.17sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +107.18sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +107.19sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +107.20sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +107.21sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +107.22sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +107.23sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +107.24sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +107.25sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +107.27sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +107.28sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +107.28sERRORmove_group-23process has died [pid 7747, 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_29l2ti_i --params-file /tmp/launch_params_nanuybrq --params-file /tmp/launch_params_7uhxq182 --params-file /tmp/launch_params_ucy5p06r --params-file /tmp/launch_params__zrmv9ea --params-file /tmp/launch_params_74jvl6eu']. +107.29sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +107.30sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +107.31sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +107.32sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +107.32sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +107.33sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +107.33sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +107.34sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +107.35sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +107.35sINFOvideo_server2026/09/18 00:22:36 INF shutting down gracefully +107.35sINFOvideo_server2026/09/18 00:22:36 INF [WebRTC] closing +107.35sINFOvideo_server2026/09/18 00:22:36 INF [RTSP] closing +107.35sINFOvideo_server2026/09/18 00:22:36 INF waiting for running hooks +107.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +107.35sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOcomponent_container_mtStopping planning scene monitor[0m +107.35sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +107.35sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +107.35sERRORmove_groupwhat(): context cannot be slept with because it's invalid +107.35sERRORmove_groupStack trace (most recent call last) in thread 8400: +107.35sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +107.35sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4af4943a63, in __clone +107.35sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4af48b6aa3, in +107.35sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4af4b48db3, in +107.35sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4af52acb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +107.35sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4af4eda620, in rclcpp::Rate::sleep() +107.35sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4af4e1cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +107.35sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4af4dde087, in +107.35sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4af4b17390, in __cxa_throw +107.35sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4af4b01a54, in std::terminate() +107.35sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4af4b170d9, in +107.35sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4af4b01ff4, in +107.35sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4af48428fe, in abort +107.35sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4af485f27d, in raise +107.35sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4af48b8b2c, in pthread_kill +107.35sERRORmove_groupAborted (Signal sent by tkill() 7747 0) +107.35sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +107.35sINFOros2_control_nodeShutdown request received....[0m +107.35sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +107.35sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +107.35sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +107.35sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +107.35sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +107.35sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +107.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +107.35sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +107.35sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +107.35sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +107.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +107.35sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +107.35sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +107.35sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +107.35sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +107.35sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +107.35sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +107.35sINFOros2_control_nodeShutting down the controller manager.[0m +107.35sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +107.35sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +107.35sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +107.36sERRORodom_qos_relay.pyTraceback (most recent call last): +107.36sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +107.36sINFOodom_qos_relay.pymain() +107.36sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +107.36sINFOodom_qos_relay.pyrclpy.spin(node) +107.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +107.36sINFOodom_qos_relay.pyexecutor.spin_once() +107.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +107.36sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +107.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +107.36sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +107.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +107.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +107.36sINFOodom_qos_relay.pyreturn next(self._cb_iter) +107.36sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +107.36sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +107.36sINFOodom_qos_relay.pyraise ExternalShutdownException() +107.36sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +107.36sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +107.48sINFOros2_control_nodeAsync messages lost 0[0m ×2 +107.48sINFOros2_control_nodepublish_async_failures_ 1[0m +107.48sINFOros2_control_nodepublish_async_failures_ 0[0m +108.20sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7795] +108.20sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +108.26sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7788] +108.26sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7787] +108.28sINFOui_teleop_bridge-32process has finished cleanly [pid 7793] +108.28sINFOexecute_objective_bridge-31process has finished cleanly [pid 7792] +108.30sINFOparameter_manager_node-24process has finished cleanly [pid 7748] +108.32sINFOwaypoint_manager_node-25process has finished cleanly [pid 7786] +108.32sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7732] +108.33sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7639] +108.34sINFOstatic_transform_publisher-8process has finished cleanly [pid 7638] +108.34sINFOcomponent_container_mt-30process has finished cleanly [pid 7791] +108.35sINFOstatic_transform_publisher-7process has finished cleanly [pid 7637] +108.35sERRORlidar_flattener.pyTraceback (most recent call last): +108.35sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +108.35sINFOlidar_flattener.pymain() +108.35sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +108.35sINFOlidar_flattener.pyrclpy.spin(node) +108.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.35sINFOlidar_flattener.pyexecutor.spin_once() +108.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.35sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +108.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.35sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.35sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.35sINFOlidar_flattener.pyreturn next(self._cb_iter) +108.35sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +108.35sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.35sINFOlidar_flattener.pyraise ExternalShutdownException() +108.35sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +108.36sINFOobjective_server_node[2026-09-18 00:22:37.337] [moveit_pro_license] [critical] +108.36sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +108.37sINFOstatic_transform_publisher-4process has finished cleanly [pid 7634] +108.38sINFOstatic_transform_publisher-3process has finished cleanly [pid 7633] +108.41sERRORlidar_flattener.py-6process has died [pid 7636, 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_js0yp4vf']. +108.41sERRORodom_qos_relay.py-5process has died [pid 7635, 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']. +108.43sINFOobjective_server_node_main-28process has finished cleanly [pid 7789] +108.43sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +108.47sERRORcomponent_container_isolated-1process has died [pid 7631, 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_3669vfml --params-file /tmp/launch_params_n5eg_l2h -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +108.69sERRORcomponent_container_isolated-2process has died [pid 7632, 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_3669vfml --params-file /tmp/launch_params_7zj2dsxm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +109.39sINFOcomponent_container_mt-29process has finished cleanly [pid 7790] +109.99sINFOros2_control_node-11process has finished cleanly [pid 7733] +110.24sINFOweb_bridge-33process has finished cleanly [pid 7794] +110.24sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +115.70sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-00-22-43-128050-09966bf14ec2-8697 ×2 +120.27sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' +120.27sINFOstatic_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' +120.28sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' +120.28sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +120.48sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +120.50sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +120.50sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +120.52sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +120.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +120.56sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +120.56sINFOros2_control_node-11process started with pid [8849] ×2 +120.56sINFOmove_group-23process started with pid [8863] ×2 +120.56sINFOparameter_manager_node-24process started with pid [8864] ×2 +120.56sINFOwaypoint_manager_node-25process started with pid [8902] ×2 +120.56sINFOmove_joint_resampler_node-26process started with pid [8903] ×2 +120.56sINFOmove_end_effector_resampler_node-27process started with pid [8904] ×2 +120.56sINFOobjective_server_node_main-28process started with pid [8905] ×2 +120.56sINFOcomponent_container_mt-29process started with pid [8906] ×2 +120.56sINFOcomponent_container_mt-30process started with pid [8907] ×2 +120.56sINFOexecute_objective_bridge-31process started with pid [8908] ×2 +120.56sINFOui_teleop_bridge-32process started with pid [8909] ×2 +120.56sINFOweb_bridge-33process started with pid [8914] ×2 +120.56sINFOtf2_web_republisher_node-34process started with pid [8915] ×2 +120.56sINFOvideo_server-35process started with pid [8916] ×2 +120.56sINFOweb_bridge_auth_proxy-36process started with pid [8919] ×2 +120.56sINFOweb_video_auth_proxy-37process started with pid [8922] ×2 +120.57sINFOcomponent_container_isolated-1process started with pid [8747] ×2 +120.57sINFOcomponent_container_isolated-2process started with pid [8748] ×2 +120.57sINFOstatic_transform_publisher-3process started with pid [8749] ×2 +120.57sINFOstatic_transform_publisher-4process started with pid [8750] ×2 +120.57sINFOodom_qos_relay.py-5process started with pid [8751] ×2 +120.57sINFOlidar_flattener.py-6process started with pid [8752] ×2 +120.57sINFOstatic_transform_publisher-7process started with pid [8753] ×2 +120.57sINFOstatic_transform_publisher-8process started with pid [8754] ×2 +120.57sINFOscan_to_scan_filter_chain-9process started with pid [8755] ×2 +120.57sINFOscan_to_scan_filter_chain-10process started with pid [8848] ×2 +120.57sINFOros2-12process started with pid [8850] ×2 +120.57sINFOros2-13process started with pid [8851] ×2 +120.57sINFOros2-14process started with pid [8852] ×2 +120.57sINFOros2-15process started with pid [8853] ×2 +120.57sINFOros2-16process started with pid [8854] ×2 +120.57sINFOros2-17process started with pid [8855] ×2 +120.57sINFOros2-18process started with pid [8856] ×2 +120.57sINFOros2-19process started with pid [8857] ×2 +120.57sINFOros2-20process started with pid [8858] ×2 +120.57sINFOros2-21process started with pid [8859] ×2 +120.57sINFOros2-22process started with pid [8860] ×2 +120.57sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +120.58sINFOcontroller_managerupdate rate is 600 Hz +120.58sINFOcontroller_managerOverruns handling is : enabled +120.58sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +120.58sWARNcontroller_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. +120.58sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +120.58sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +120.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +120.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +120.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +120.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +120.64sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +120.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.932006 ms (missed cycles : 6). +120.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.932006 ms (missed cycles : 6).[0m ×2 +120.66sINFOcontroller_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. +120.68sINFOmap_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. +120.69sINFOmap_serverCreating +120.70sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +120.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +120.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +120.74sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +120.75sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +120.77sINFOcontroller_serverCreating controller server +120.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +120.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +120.78sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +120.78sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.78sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.80sINFOlifecycle_manager_localizationCreating +120.81sINFOlocal_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. +120.81sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +120.82sINFOlocal_costmap.local_costmapCreating Costmap +120.83sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +120.83sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +120.83sINFOmap_serverConfiguring +120.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +120.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +120.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +120.87sINFOrobot_state_publisherRobot initialized +120.88sINFOcontroller_managerReceived robot description from topic. +120.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +120.89sINFOsmoother_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. +120.89sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +120.90sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +120.90sINFOamclConfiguring +120.90sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +120.91sINFOmap_serverActivating +120.91sINFOmap_serverCreating bond (map_server) to lifecycle manager. +120.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +120.93sINFOsmoother_serverCreating smoother server +120.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +120.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +120.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +120.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +120.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.00sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +121.01sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +121.02sINFOplanner_serverCreating +121.02sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +121.03sINFOlifecycle_manager_localizationServer map_server connected with bond. +121.03sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +121.03sINFOamclActivating +121.03sINFOamclSubscribed to initial_pose_topic: /initialpose +121.03sINFOvideo_server2026/09/18 00:22:50 INF MediaMTX v1.20.1, linux, amd64 ×2 +121.03sINFOvideo_server2026/09/18 00:22:50 INF configuration loaded from /tmp/moveit-webrtc-fmsapf4k/mediamtx.yml ×2 +121.03sINFOvideo_server2026/09/18 00:22:50 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +121.03sINFOvideo_server2026/09/18 00:22:50 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +121.03sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +121.05sINFOamclSubscribed to map_topic: /map +121.05sINFOamclSubscribed to scan_topic: /scan_merged +121.05sINFOamclCreated reinitialize_global_localization service +121.05sINFOamclCreated request_nomotion_update service +121.05sINFOamclA new map was received +121.05sINFOamclInitializing particle filter instance +121.08sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.09sINFOglobal_costmap.global_costmapCreating Costmap +121.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +121.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.16sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +121.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.25sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.28sINFObt_navigatorCreating +121.29sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +121.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +121.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.30sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.374479 seconds +121.30sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +121.30sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +121.30sINFOmove_groupLoaded robot model in 0.374479 seconds[0m ×2 +121.33sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.34sINFOwaypoint_followerCreating +121.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +121.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.39sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.44sINFOlifecycle_manager_navigationCreating +121.45sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +121.45sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.48sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +121.48sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +121.48sINFOcontroller_serverConfiguring controller interface +121.48sINFOcontroller_servergetting progress checker plugins.. +121.48sINFOcontroller_servergetting goal checker plugins.. +121.48sINFOcontroller_serverController frequency set to 20.0000Hz +121.48sINFOlocal_costmap.local_costmapConfiguring +121.49sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +121.52sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +121.55sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +121.55sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +121.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +121.59sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +121.59sINFOcontroller_serverController Server has progress_checker progress checkers available. +121.59sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +121.60sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +121.60sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +121.64sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +121.65sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +121.65sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +121.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.944130 ms (missed cycles : 6). +121.66sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +121.66sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +121.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.944130 ms (missed cycles : 6).[0m ×2 +121.66sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +121.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +121.67sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +121.67sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +121.68sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +121.68sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +121.68sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +121.68sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +121.68sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +121.68sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +121.68sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +121.68sINFOcontroller_serverOptimizer reset ×2 +121.72sINFOcontroller_serverController Server has FollowPath controllers available. +121.74sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +121.74sINFOsmoother_serverConfiguring smoother server +121.75sINFOamclParticle filter initialization completed +121.76sINFOamclInitializing particles from estimated pose and covariance +121.76sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +121.79sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +121.80sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +121.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +121.82sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +121.82sINFOplanner_serverConfiguring +121.82sINFOglobal_costmap.global_costmapConfiguring +121.83sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +121.84sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +121.84sINFOlifecycle_manager_localizationServer amcl connected with bond. +121.84sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +121.84sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +121.85sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +121.85sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +121.86sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +121.86sINFOamclThe bond connection to the lifecycle manager is now fully formed +121.87sINFOwaypoint_manager_nodeLoaded robot model in 0.36053 seconds[0m ×2 +121.90sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +121.90sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +121.91sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +121.96sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sWARNmove_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. +121.96sWARNmove_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. +121.97sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +121.97sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +121.98sINFOplanner_serverPlanner Server has GridBased planners available. +122.00sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +122.00sINFObehavior_serverConfiguring +122.01sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +122.02sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +122.02sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +122.02sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +122.03sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +122.04sINFObehavior_serverConfiguring spin +122.07sINFObehavior_serverConfiguring backup +122.08sINFObehavior_serverConfiguring drive_on_heading +122.09sINFObehavior_serverConfiguring assisted_teleop +122.10sINFObehavior_serverConfiguring wait +122.12sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +122.12sINFObt_navigatorConfiguring +122.12sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +122.13sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.22sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.23sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.25sWARNwaypoint_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. +122.25sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +122.29sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +122.29sINFOwaypoint_followerConfiguring +122.30sINFOmove_group[2026-09-18 00:22:51.276] [moveit_pro_license] [info] ×2 +122.31sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +122.32sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +122.32sINFOvelocity_smootherConfiguring velocity smoother +122.33sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +122.33sINFOcontroller_serverActivating +122.33sINFOlocal_costmap.local_costmapActivating +122.33sINFOlocal_costmap.local_costmapChecking transform +122.33sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×3 +122.58sINFOwaypoint_manager_node[2026-09-18 00:22:51.559] [moveit_pro_license] [info] ×2 +122.75sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +122.75sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +122.76sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +122.76sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +122.76sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +122.76sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +122.76sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +122.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +122.77sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +122.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +122.77sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +123.09sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +123.09sINFOcontroller_managerActivating component 'ur_mujoco_control'. +123.09sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +123.09sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +123.32sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +123.32sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +123.32sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +123.32sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +123.34sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +123.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +123.35sINFOforce_torque_sensor_broadcasterconfigure successful +123.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +123.36sINFOcontroller_managerSuccessfully switched controllers! ×20 +123.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +123.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015265 ms (missed cycles : 2). +123.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015265 ms (missed cycles : 2).[0m ×2 +123.58sINFOobjective_server_node[2026-09-18 00:22:52.556] [moveit_pro_license] [info] ×2 +123.64sINFOobjective_server_nodeLoaded robot model in 0.0271545 seconds[0m ×2 +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +123.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +123.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +123.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +123.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +123.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +123.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +123.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +123.73sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +123.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +123.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +123.74sINFOros2-12process has finished cleanly [pid 8850] ×2 +123.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +123.75sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +123.75sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +123.75sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +123.77sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +123.77sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +123.78sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +123.79sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +123.79sINFOstreaming_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) +123.79sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +123.83sINFOlocal_costmap.local_costmapstart +123.93sWARNcontroller_serverParameter controller_server.verbose not found +123.93sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +123.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +123.96sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +123.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +123.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +123.99sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +124.00sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +124.04sINFOlifecycle_manager_navigationServer controller_server connected with bond. +124.04sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +124.04sINFOsmoother_serverActivating +124.04sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +124.05sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.05sWARNobjective_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. +124.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +124.07sINFOcontroller_managerLoading controller 'platform_velocity_controller' +124.08sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +124.08sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +124.09sINFOros2-14process has finished cleanly [pid 8852] ×2 +124.13sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +124.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +124.14sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +124.14sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +124.14sINFOplatform_velocity_controllerconfigure successful +124.14sINFOplanner_serverActivating +124.14sINFOglobal_costmap.global_costmapActivating +124.14sINFOglobal_costmap.global_costmapChecking transform +124.14sINFOglobal_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. ×2 +124.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +124.15sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +124.24sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.24sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.39sINFOcomponent_container_mtLoaded robot model in 0.373548 seconds[0m ×2 +124.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +124.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +124.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +124.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +124.48sINFOros2-15process has finished cleanly [pid 8853] ×2 +124.49sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +124.49sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +124.50sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +124.50sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +124.53sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +124.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983912 ms (missed cycles : 2). +124.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983912 ms (missed cycles : 2).[0m ×2 +124.60sWARNros2_control_nodeCamera render tick took 0.55 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 +124.65sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +124.65sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +124.66sINFOmove_groupMoveGroup debug mode is ON +124.68sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 5.358ms +124.83sINFOmove_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
********************************************************
+124.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +124.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +124.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +124.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.86sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.87sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sINFOros2-13process has finished cleanly [pid 8851] ×2 +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.88sWARNplanning_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. +124.98sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +124.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +124.98sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +124.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +124.99sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +124.99sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +124.99sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +125.09sINFOcomponent_container_mt[2026-09-18 00:22:54.069] [moveit_pro_license] [info] ×2 +125.14sINFOglobal_costmap.global_costmapstart +125.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 +125.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +125.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +125.32sINFOros2-18process has finished cleanly [pid 8856] ×2 +125.42sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +125.42sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +125.47sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +125.47sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +125.48sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789690973.664 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +125.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814838 ms (missed cycles : 2). +125.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814838 ms (missed cycles : 2).[0m ×2 +125.81sINFOros2_control_node[2026-09-18 00:22:54.793] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +125.81sINFOros2_control_node[2026-09-18 00:22:54.795] [info] Controller state will be published at 10 Hz. ×2 +125.82sINFOros2_control_node[2026-09-18 00:22:54.796] [info] VelocityForceController 'on_configure' succeeded. ×2 +126.11sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +126.11sINFOcontroller_managerLoading controller 'velocity_force_controller' +126.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +126.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +126.16sINFOros2-20process has finished cleanly [pid 8858] ×2 +126.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +126.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +126.20sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +126.20sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +126.30sINFOlifecycle_manager_navigationServer planner_server connected with bond. +126.30sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +126.30sINFObehavior_serverActivating +126.30sINFObehavior_serverActivating spin +126.30sINFObehavior_serverActivating backup +126.30sINFObehavior_serverActivating drive_on_heading +126.30sINFObehavior_serverActivating assisted_teleop +126.30sINFObehavior_serverActivating wait +126.30sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +126.41sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +126.41sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +126.41sINFObt_navigatorActivating +126.47sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +126.53sINFOros2_control_node[2026-09-18 00:22:55.512] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +126.53sINFOros2_control_node[2026-09-18 00:22:55.513] [info] Controller state will be published at 10 Hz. ×2 +126.53sINFOros2_control_node[2026-09-18 00:22:55.514] [info] VelocityForceController 'on_configure' succeeded. ×2 +126.58sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +126.58sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +126.58sINFOwaypoint_followerActivating +126.58sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +126.68sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +126.68sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +126.68sINFOvelocity_smootherActivating +126.68sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +126.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692885 ms (missed cycles : 2). +126.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692885 ms (missed cycles : 2).[0m ×2 +126.79sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +126.79sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +126.79sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +126.85sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.85sINFOcontroller_managerLoading controller 'joint_velocity_controller' +126.86sINFOros2-19process has finished cleanly [pid 8857] ×2 +126.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +126.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +126.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +126.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +127.31sINFOros2_control_node[2026-09-18 00:22:56.294] [info] Controller state will be published at 20 Hz. ×2 +127.31sINFOros2_control_node[2026-09-18 00:22:56.295] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.65sINFOros2-21process has finished cleanly [pid 8859] ×2 +127.68sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.68sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +127.68sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +127.69sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +127.73sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +127.74sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +127.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322599 ms (missed cycles : 2). +127.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322599 ms (missed cycles : 2).[0m ×2 +128.07sINFOros2_control_node[2026-09-18 00:22:57.050] [info] Controller state will be published at 20 Hz. ×2 +128.07sINFOros2_control_node[2026-09-18 00:22:57.051] [info] JointVelocityController 'on_configure' succeeded. ×2 +128.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.38sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +128.38sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +128.38sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +128.41sINFOros2-22process has finished cleanly [pid 8860] ×2 +128.44sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +128.44sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +128.44sINFOplatform_velocity_controller_nav2configure successful +128.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925661 ms (missed cycles : 2). +128.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925661 ms (missed cycles : 2).[0m ×2 +128.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +128.80sINFOcontroller_managerLoading controller 'vacuum_gripper' +128.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha +128.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ogf7qhh8 --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_iljfgd6n --params-file /tmp/launch_params_qbrl72ha [0m ×2 +128.80sINFOros2-17process has finished cleanly [pid 8855] ×2 +128.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +128.86sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +128.86sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +128.86sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +128.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +128.87sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +129.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +129.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +129.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.18sINFOros2-16process has finished cleanly [pid 8854] ×2 +129.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037239 ms (missed cycles : 2). +129.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037239 ms (missed cycles : 2).[0m ×2 +130.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035738 ms (missed cycles : 3). +130.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035738 ms (missed cycles : 3).[0m ×2 +132.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). +132.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 +133.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). +133.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 +134.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+134.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +134.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +134.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +134.15sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +134.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 +134.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). +134.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 +134.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+134.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +134.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 +135.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). +135.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 +135.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 +136.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +136.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +136.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 +136.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). +136.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 +136.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +136.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +136.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +137.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). +137.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 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 4.035738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035738 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.22sINFOobjective_server_nodecaller: ×10 + 3.22sINFOobjective_server_nodetype: 0 ×10 + 3.22sINFOobjective_server_nodename: "" ×10 + 3.22sINFOobjective_server_nodeinstance_id: "" ×10 + 3.22sINFOobjective_server_node ×10 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.25sINFOmove_groupClearing octomap...[0m ×4 + 3.26sINFOmove_groupOctomap cleared.[0m ×4 + 3.26sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.26sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.18sINFOjoint_trajectory_controllerReceived new action goal + 7.18sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.18sINFOjoint_trajectory_controllerAccepted new action goal + 7.18sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035738 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035738 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 2.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 2.68sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.68sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.22sINFOobjective_server_nodecaller: ×10 + 3.22sINFOobjective_server_nodetype: 0 ×10 + 3.22sINFOobjective_server_nodename: "" ×10 + 3.22sINFOobjective_server_nodeinstance_id: "" ×10 + 3.22sINFOobjective_server_node ×10 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.25sINFOmove_groupClearing octomap...[0m ×4 + 3.26sINFOmove_groupOctomap cleared.[0m ×4 + 3.26sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.26sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 5.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.79sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519078 ms (missed cycles : 2).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.08sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.08sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.08sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.08sINFOobjective_server_nodecaller: ×10 + 2.08sINFOobjective_server_nodetype: 0 ×10 + 2.08sINFOobjective_server_nodename: "" ×10 + 2.08sINFOobjective_server_nodeinstance_id: "" ×10 + 2.08sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.12sINFOmove_groupClearing octomap...[0m ×4 + 2.12sINFOmove_groupOctomap cleared.[0m ×4 + 2.12sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.12sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_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 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.05sINFOjoint_trajectory_controllerReceived new action goal + 6.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146654 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326398 ms (missed cycles : 2).[0m ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.47sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.47sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.99sINFOobjective_server_nodecaller: ×10 + 0.99sINFOobjective_server_nodetype: 0 ×10 + 0.99sINFOobjective_server_nodename: "" ×10 + 0.99sINFOobjective_server_nodeinstance_id: "" ×10 + 0.99sINFOobjective_server_node ×10 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789690983.12844443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.03sINFOmove_groupClearing octomap...[0m ×4 + 1.03sINFOmove_groupOctomap cleared.[0m ×4 + 1.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789690983.13863301 seconds ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658697 ms (missed cycles : 2).[0m ×2 + 1.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789690983.71804929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789690983.72816420 seconds ×3 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339848 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789690984.30703139 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789690984.45765162 seconds ×3 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789690985.05939293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_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 + 2.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.99sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789690985.12951636 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302386 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789690985.70957923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070316 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236353 ms (missed cycles : 3).[0m ×2 | ||||