MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

6.3s

Avg test time

61%

Objective pass rate

Show INFO/DEBUG

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

7 fail6 pass24 skip

✕ failed	Move to Look at Plane	move_to_look_at_plane.xml	1.4s	30 errors · 43 warnings · 275 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 0.15sINFOjoint_trajectory_controllerGoal reached, success! + 0.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.72sINFOobjective_server_nodecaller: ×10 + 0.72sINFOobjective_server_nodetype: 0 ×10 + 0.72sINFOobjective_server_nodename: "" ×10 + 0.72sINFOobjective_server_nodeinstance_id: "" ×10 + 0.72sINFOobjective_server_node ×10 + 0.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.91sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 1.55sWARNobjective_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 + 1.56sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 1.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 2.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 4.26sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.29sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.33sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3).[0m ×2 + 7.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684470.32329297 seconds ×3 + 7.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2).[0m ×2
✕ failed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	1.4s	18 errors · 34 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.98sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.98sINFOobjective_server_nodecaller: ×8 + 2.98sINFOobjective_server_nodetype: 0 ×8 + 2.98sINFOobjective_server_nodename: "" ×8 + 2.98sINFOobjective_server_nodeinstance_id: "" ×8 + 2.98sINFOobjective_server_node ×8 + 3.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.17sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 3.81sWARNobjective_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 + 3.82sERRORobjective_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 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sINFOobjective_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: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 5.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 6.52sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 7.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✕ failed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	1.4s	6 errors · 27 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819042 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819042 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597596 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597596 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234408 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234408 ms (missed cycles : 2).[0m ×2 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844693 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844693 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789684480.24330854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sWARNobjective_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 + 4.18sERRORobjective_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 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789684481.02353501 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547196 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547196 ms (missed cycles : 4).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789684481.62807798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOjoint_trajectory_controllerReceived new action goal + 5.21sINFOjoint_trajectory_controllerAccepted new action goal + 5.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631324 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631324 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777145 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777145 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572916 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572916 ms (missed cycles : 4).[0m ×2
✕ failed	Move to Arm Upright	move_to_arm_upright.xml	1.3s	24 errors · 40 warnings · 275 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.09sINFOobjective_server_nodecaller: ×10 + 2.09sINFOobjective_server_nodetype: 0 ×10 + 2.09sINFOobjective_server_nodename: "" ×10 + 2.09sINFOobjective_server_nodeinstance_id: "" ×10 + 2.09sINFOobjective_server_node ×10 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.28sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.93sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 5.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 7.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.70sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✕ failed	Solution - Generate coverage path	solution_generate_coverage_path.xml	1.3s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4).[0m ×2
✕ failed	Solution - Move Forward 2m	solution_move_forward_2m.xml	1.3s	12 errors · 27 warnings · 215 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 0.80sINFOjoint_trajectory_controllerGoal reached, success! + 0.80sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 0.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.40sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.40sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.40sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.40sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.40sINFOobjective_server_nodecaller: ×8 + 1.40sINFOobjective_server_nodetype: 0 ×8 + 1.40sINFOobjective_server_nodename: "" ×8 + 1.40sINFOobjective_server_nodeinstance_id: "" ×8 + 1.40sINFOobjective_server_node ×8 + 1.44sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.18sWARNobjective_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 + 2.19sERRORobjective_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 + 2.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.75sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 3.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.13sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4).[0m ×2 + 6.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684493.37497830 seconds ×3 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2).[0m ×2 + 7.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.30sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2
✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	1.3s	30 errors · 43 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 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684470.32329297 seconds ×3 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697567 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697567 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	143 warnings · 394 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.69sINFOobjective_server_nodecaller: ×12 + 0.69sINFOobjective_server_nodetype: 0 ×12 + 0.69sINFOobjective_server_nodename: "" ×12 + 0.69sINFOobjective_server_nodeinstance_id: "" ×12 + 0.69sINFOobjective_server_node ×12 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219703 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219703 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186924 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186924 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842822 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842822 ms (missed cycles : 3).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978808 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978808 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413499 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.413499 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179020 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179020 ms (missed cycles : 2).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432689 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432689 ms (missed cycles : 3).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807104 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807104 ms (missed cycles : 3).[0m ×2 + 14.22sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.883ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441503 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441503 ms (missed cycles : 3).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473530 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473530 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652190 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652190 ms (missed cycles : 3).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576303 ms (missed cycles : 4). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576303 ms (missed cycles : 4).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944897 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944897 ms (missed cycles : 2).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779285 ms (missed cycles : 3). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779285 ms (missed cycles : 3).[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154770 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154770 ms (missed cycles : 3).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709927 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709927 ms (missed cycles : 2).[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674702 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674702 ms (missed cycles : 2).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 24.263411 ms (missed cycles : 15). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 24.263411 ms (missed cycles : 15).[0m ×2 + 24.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201839 ms (missed cycles : 3). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201839 ms (missed cycles : 3).[0m ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531836 ms (missed cycles : 3). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531836 ms (missed cycles : 3).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663239 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663239 ms (missed cycles : 2).[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723696 ms (missed cycles : 3). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723696 ms (missed cycles : 3).[0m ×2 + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083427 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083427 ms (missed cycles : 2).[0m ×2 + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999731 ms (missed cycles : 2). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999731 ms (missed cycles : 2).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579993 ms (missed cycles : 3). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579993 ms (missed cycles : 3).[0m ×2 + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052654 ms (missed cycles : 2). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052654 ms (missed cycles : 2).[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946406 ms (missed cycles : 2). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946406 ms (missed cycles : 2).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236115 ms (missed cycles : 2). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236115 ms (missed cycles : 2).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569034 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569034 ms (missed cycles : 2).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966180 ms (missed cycles : 3). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966180 ms (missed cycles : 3).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429777 ms (missed cycles : 3). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429777 ms (missed cycles : 3).[0m ×2 + 39.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349637 ms (missed cycles : 3). + 39.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349637 ms (missed cycles : 3).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237540 ms (missed cycles : 3). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237540 ms (missed cycles : 3).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197190 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197190 ms (missed cycles : 2).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.924ms + 42.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836472 ms (missed cycles : 3). + 42.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836472 ms (missed cycles : 3).[0m ×2 + 43.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2). + 43.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2).[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4).[0m ×2 + 46.33sINFOjoint_trajectory_controllerGoal reached, success! + 46.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789684457.30461884 seconds ×3 + 46.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.92sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789684457.88168955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5).[0m ×2 + 47.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 48.03sINFOobjective_server_nodeFound path in 0 iterations (2.3314e-05 s). ×2 + 48.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3).[0m ×2 + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5).[0m ×2 + 50.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.1s	110 errors · 27 warnings · 504 info
+ 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: 1789684490.13661981 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 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_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 + 0.56sINFOobjective_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 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.56sINFOobjective_server_nodecaller: ×4 + 0.56sINFOobjective_server_nodetype: 0 ×4 + 0.56sINFOobjective_server_nodename: "" ×4 + 0.56sINFOobjective_server_nodeinstance_id: "" ×4 + 0.56sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.60sINFOmove_groupClearing octomap...[0m ×2 + 0.60sINFOmove_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684493.37497830 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684493.94519973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643615 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643615 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684494.74533749 seconds ×3 + 4.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110322 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110322 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645336 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645336 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579006 ms (missed cycles : 4). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579006 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073247 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073247 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854240 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854240 ms (missed cycles : 2).[0m ×2 + 10.32sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.35sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORweb_video_auth_proxy-37process has died [pid 8969, 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 + 10.35sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.36sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_bridge_auth_proxy-36process has died [pid 8954, 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 + 10.36sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.37sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.38sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.39sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.40sINFOvideo_server-35process has finished cleanly [pid 8953] ×2 + 10.40sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.41sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.42sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.44sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.45sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.46sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.47sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.48sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.49sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.51sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.51sINFOcontroller_managerShutdown request received.... + 10.51sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.51sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.51sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.51sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.51sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.51sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.51sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.51sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.51sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.51sINFOcontroller_managerShutting down the controller manager. + 10.52sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.53sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.54sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.54sERRORmove_group-23process has died [pid 8875, 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_3tglk_uk --params-file /tmp/launch_params_yoag46m6 --params-file /tmp/launch_params_i9ws0jja --params-file /tmp/launch_params_irwgoh_s --params-file /tmp/launch_params_3y4pnt73 --params-file /tmp/launch_params_ayfw3rwp']. ×2 + 10.55sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.56sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.57sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.58sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.59sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.59sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.60sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.60sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.60sINFOmap_serverDeactivating + 10.60sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.61sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.61sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.61sINFOcontroller_serverDeactivating + 10.61sINFOlocal_costmap.local_costmapDeactivating + 10.61sINFOvideo_server2026/09/17 22:35:00 INF shutting down gracefully ×2 + 10.61sINFOvideo_server2026/09/17 22:35:00 INF [WebRTC] closing ×2 + 10.61sINFOvideo_server2026/09/17 22:35:00 INF [RTSP] closing ×2 + 10.61sINFOvideo_server2026/09/17 22:35:00 INF waiting for running hooks ×2 + 10.61sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmap_serverCleaning up + 10.61sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.61sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.61sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.61sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.61sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.62sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.62sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.62sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.62sERRORmove_groupStack trace (most recent call last) in thread 9509: ×2 + 10.62sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.62sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5aec921a63, in __clone ×2 + 10.62sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5aec894aa3, in ×2 + 10.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.62sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.62sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.62sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.62sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5aecb26db3, in ×2 + 10.62sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f5aed28ab54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.62sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5aeceb8620, in rclcpp::Rate::sleep() ×2 + 10.62sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5aecdfad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.62sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5aecdbc087, in ×2 + 10.62sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5aecaf5390, in __cxa_throw ×2 + 10.62sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5aecadfa54, in std::terminate() ×2 + 10.62sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5aecaf50d9, in ×2 + 10.62sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5aecadfff4, in ×2 + 10.62sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5aec8208fe, in abort ×2 + 10.62sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5aec83d27d, in raise ×2 + 10.62sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5aec896b2c, in pthread_kill ×2 + 10.62sERRORmove_groupAborted (Signal sent by tkill() 8875 0) ×2 + 10.62sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.62sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.62sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.62sINFOodom_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 + 10.62sINFOodom_qos_relay.pymain() ×2 + 10.62sINFOodom_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 + 10.62sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.62sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.62sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.62sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.62sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.62sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.62sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.62sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.62sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.63sERRORamclThe bond connection to the lifecycle manager has been broken + 10.69sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.70sINFOcontroller_serverCleaning up + 10.70sINFOlocal_costmap.local_costmapCleaning up + 10.72sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.72sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.73sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.74sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.74sINFOsmoother_serverDeactivating + 10.74sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.75sINFOsmoother_serverCleaning up + 10.77sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.77sINFOplanner_serverDeactivating + 10.77sINFOglobal_costmap.global_costmapDeactivating + 10.83sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.83sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.83sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.83sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.83sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.83sINFOvelocity_smootherDeactivating + 10.83sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.95sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.95sINFOwaypoint_followerDeactivating + 10.95sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.00sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.00sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.02sINFOplanner_serverCleaning up + 11.03sINFOglobal_costmap.global_costmapCleaning up + 11.04sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.04sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.06sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.06sINFObt_navigatorDeactivating + 11.06sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.07sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.07sINFObehavior_serverDeactivating + 11.07sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.08sINFObehavior_serverCleaning up + 11.09sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.09sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.09sINFOwaypoint_followerCleaning up + 11.10sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.10sINFOvelocity_smootherCleaning up + 11.10sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.17sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.18sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.18sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.18sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.18sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.18sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.18sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.18sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.19sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.19sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.19sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.19sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.21sERRORwaypoint_followerUnable 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 bt_navigator[0m[0m + 11.21sINFObt_navigatorCleaning up + 11.38sINFObt_navigatorCompleted Cleaning up + 11.38sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.39sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.39sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.39sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.39sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.39sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.39sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.39sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.39sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.44sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8952] ×2 + 11.44sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.51sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8935] ×2 + 11.51sINFOui_teleop_bridge-32process has finished cleanly [pid 8948] ×2 + 11.52sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8930] ×2 + 11.52sINFOexecute_objective_bridge-31process has finished cleanly [pid 8947] ×2 + 11.57sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8853] ×2 + 11.57sINFOparameter_manager_node-24process has finished cleanly [pid 8876] ×2 + 11.57sINFOwaypoint_manager_node-25process has finished cleanly [pid 8929] ×2 + 11.58sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8760] ×2 + 11.58sINFOstatic_transform_publisher-8process has finished cleanly [pid 8759] ×2 + 11.60sINFOstatic_transform_publisher-7process has finished cleanly [pid 8758] ×2 + 11.60sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.60sINFOlidar_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 + 11.60sINFOlidar_flattener.pymain() ×2 + 11.60sINFOlidar_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 + 11.60sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.60sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.61sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.61sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.61sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.61sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.61sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.61sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.61sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.61sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.61sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.61sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.61sINFOcomponent_container_mt-30process has finished cleanly [pid 8946] ×2 + 11.63sINFOstatic_transform_publisher-4process has finished cleanly [pid 8755] ×2 + 11.64sINFOstatic_transform_publisher-3process has finished cleanly [pid 8754] ×2 + 11.64sINFOobjective_server_node[2026-09-17 22:35:01.772] [moveit_pro_license] [info] ×2 + 11.64sINFOobjective_server_node************************************************* ×4 + 11.64sINFOobjective_server_node* MoveIt Pro License ×2 + 11.64sINFOobjective_server_node* Application has successfully terminated ×2 + 11.65sERRORlidar_flattener.py-6process has died [pid 8757, 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_0dvt87yd']. ×2 + 11.67sERRORodom_qos_relay.py-5process has died [pid 8756, 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 + 11.69sERRORcomponent_container_isolated-1process has died [pid 8752, 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_ox45ht2b --params-file /tmp/launch_params___se_y7l -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.70sINFOobjective_server_node_main-28process has finished cleanly [pid 8936] ×2 + 11.70sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.97sERRORcomponent_container_isolated-2process has died [pid 8753, 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_ox45ht2b --params-file /tmp/launch_params_zyz0b7b1 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.65sINFOcomponent_container_mt-29process has finished cleanly [pid 8941] ×2 + 13.04sINFOweb_bridge-33process has finished cleanly [pid 8950] ×2 + 13.04sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 13.24sINFOros2_control_node-11process has finished cleanly [pid 8856] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	30 errors · 68 warnings · 273 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 0.20sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.21sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 0.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.82sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 1.48sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.23sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.55sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684470.32329297 seconds ×3 + 4.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697567 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697567 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530523 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530523 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583282 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583282 ms (missed cycles : 4).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209490 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209490 ms (missed cycles : 2).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819042 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819042 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597596 ms (missed cycles : 4). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597596 ms (missed cycles : 4).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234408 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234408 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844693 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844693 ms (missed cycles : 2).[0m ×2 + 14.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.19sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789684480.24330854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789684481.02353501 seconds ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547196 ms (missed cycles : 4). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547196 ms (missed cycles : 4).[0m ×2 + 15.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.57sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.62sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789684481.62807798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOjoint_trajectory_controllerReceived new action goal + 16.04sINFOjoint_trajectory_controllerAccepted new action goal + 16.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631324 ms (missed cycles : 2). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631324 ms (missed cycles : 2).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777145 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777145 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	18 errors · 48 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597596 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597596 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234408 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234408 ms (missed cycles : 2).[0m ×2 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844693 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844693 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.31sINFOobjective_server_nodecaller: ×10 + 2.31sINFOobjective_server_nodetype: 0 ×10 + 2.31sINFOobjective_server_nodename: "" ×10 + 2.31sINFOobjective_server_nodeinstance_id: "" ×10 + 2.31sINFOobjective_server_node ×10 + 2.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789684480.24330854 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.12sWARNobjective_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 + 3.13sERRORobjective_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 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789684481.02353501 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547196 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547196 ms (missed cycles : 4).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789684481.62807798 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOjoint_trajectory_controllerReceived new action goal + 4.16sINFOjoint_trajectory_controllerAccepted new action goal + 4.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631324 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631324 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777145 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777145 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572916 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572916 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 9.52sINFOjoint_trajectory_controllerGoal reached, success! + 9.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 10.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.11sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 11.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.47sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 12.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 12.81sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.85sINFOmove_groupClearing octomap...[0m ×2 + 12.85sINFOmove_groupOctomap cleared.[0m ×2 + 12.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	12 errors · 44 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789684457.30461884 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.02sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.02sINFOobjective_server_nodecaller: ×8 + 3.02sINFOobjective_server_nodetype: 0 ×8 + 3.02sINFOobjective_server_nodename: "" ×8 + 3.02sINFOobjective_server_nodeinstance_id: "" ×8 + 3.02sINFOobjective_server_node ×8 + 3.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789684457.88168955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.3314e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5).[0m ×2 + 6.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 6.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 7.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 7.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 8.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 8.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 9.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.14sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.32sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 9.97sWARNobjective_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 + 9.98sERRORobjective_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 + 9.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 10.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.61sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.65sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 11.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 11.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	3.2s	12 errors · 33 warnings · 221 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.59sINFOobjective_server_nodecaller: ×8 + 0.59sINFOobjective_server_nodetype: 0 ×8 + 0.59sINFOobjective_server_nodename: "" ×8 + 0.59sINFOobjective_server_nodeinstance_id: "" ×8 + 0.59sINFOobjective_server_node ×8 + 0.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sWARNobjective_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 + 1.39sERRORobjective_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 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684493.37497830 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.54sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684493.94519973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643615 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643615 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684494.74533749 seconds ×3 + 7.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110322 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110322 ms (missed cycles : 2).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645336 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645336 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219703 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219703 ms (missed cycles : 5).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789684457.30461884 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789684457.88168955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.3314e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5).[0m ×2 + 6.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647270 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271970 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243353 ms (missed cycles : 4).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! + 2.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789684457.30461884 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.02sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.02sINFOobjective_server_nodecaller: ×2 + 3.02sINFOobjective_server_nodetype: 0 ×2 + 3.02sINFOobjective_server_nodename: "" ×2 + 3.02sINFOobjective_server_nodeinstance_id: "" ×2 + 3.02sINFOobjective_server_node ×2 + 3.06sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789684457.88168955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758138 ms (missed cycles : 5).[0m ×2 + 3.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.331ms + 4.14sINFOobjective_server_nodeFound path in 0 iterations (2.3314e-05 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOjoint_trajectory_controllerReceived new action goal + 4.24sINFOjoint_trajectory_controllerAccepted new action goal + 4.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423676 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798599 ms (missed cycles : 5).[0m ×2 + 6.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	12 errors · 26 warnings · 171 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.98sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.98sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.98sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.98sINFOobjective_server_nodecaller: ×6 + 2.98sINFOobjective_server_nodetype: 0 ×6 + 2.98sINFOobjective_server_nodename: "" ×6 + 2.98sINFOobjective_server_nodeinstance_id: "" ×6 + 2.98sINFOobjective_server_node ×6 + 3.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.17sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 3.81sWARNobjective_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. ×6 + 3.82sERRORobjective_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. ×6 + 3.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 4.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sINFOobjective_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: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 5.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 errors · 34 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.28sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.93sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 5.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 errors · 34 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.28sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.93sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 5.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 errors · 34 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.28sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.93sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 5.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	18 errors · 34 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.28sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.93sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 5.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 errors · 34 warnings · 222 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679531 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 0.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732622 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 1.52sINFOjoint_trajectory_controllerGoal reached, success! + 1.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684463.41184473 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.125786 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.09sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.09sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.09sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.09sINFOobjective_server_nodecaller: ×8 + 2.09sINFOobjective_server_nodetype: 0 ×8 + 2.09sINFOobjective_server_nodename: "" ×8 + 2.09sINFOobjective_server_nodeinstance_id: "" ×8 + 2.09sINFOobjective_server_node ×8 + 2.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684463.99717212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.28sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 3.564ms + 2.92sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.93sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 4.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 5.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.34sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 errors · 40 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 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684470.32329297 seconds ×3 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 errors · 40 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 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684470.32329297 seconds ×3 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 errors · 40 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 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684464.79736066 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556700 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684465.46800017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321699 ms (missed cycles : 2).[0m ×2 + 1.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684466.21816278 seconds ×3 + 2.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.01sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684466.83063841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913186 ms (missed cycles : 2).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684467.64079714 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137289 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.46sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684468.24393129 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684468.95410442 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604603 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.74sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684469.56311202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322985 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684470.32329297 seconds ×3 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520635 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	12 errors · 24 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757171 ms (missed cycles : 2).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072036 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! + 2.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.85sINFOobjective_server_nodecaller: ×6 + 2.85sINFOobjective_server_nodetype: 0 ×6 + 2.85sINFOobjective_server_nodename: "" ×6 + 2.85sINFOobjective_server_nodeinstance_id: "" ×6 + 2.85sINFOobjective_server_node ×6 + 2.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.64sERRORobjective_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. ×6 + 3.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 4.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 5.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.55sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.59sINFOmove_groupClearing octomap...[0m ×2 + 5.59sINFOmove_groupOctomap cleared.[0m ×2 + 5.60sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.60sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	12 errors · 24 warnings · 215 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684487.45819950 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433252 ms (missed cycles : 3).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.59sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.59sINFOobjective_server_nodecaller: ×8 + 0.59sINFOobjective_server_nodetype: 0 ×8 + 0.59sINFOobjective_server_nodename: "" ×8 + 0.59sINFOobjective_server_nodeinstance_id: "" ×8 + 0.59sINFOobjective_server_node ×8 + 0.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684488.04234529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sWARNobjective_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 + 1.39sERRORobjective_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 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684488.79251814 seconds ×3 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324507 ms (missed cycles : 2).[0m ×2 + 1.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.95sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684489.40644765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285779 ms (missed cycles : 2).[0m ×2 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684490.13661981 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684490.73485732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.33sINFOmove_groupClearing octomap...[0m ×2 + 3.33sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.34sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966760 ms (missed cycles : 2).[0m ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395149 ms (missed cycles : 4).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684493.37497830 seconds ×3 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298896 ms (missed cycles : 2).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.5s	77 errors · 512 warnings · 2527 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-22-31-14-590120-cfacba15e3af-7585 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.01sINFOros2_control_node-11process started with pid [7740] + 5.01sINFOmove_group-23process started with pid [7754] + 5.01sINFOparameter_manager_node-24process started with pid [7757] + 5.01sINFOwaypoint_manager_node-25process started with pid [7794] + 5.01sINFOmove_joint_resampler_node-26process started with pid [7795] + 5.01sINFOmove_end_effector_resampler_node-27process started with pid [7796] + 5.01sINFOobjective_server_node_main-28process started with pid [7797] + 5.01sINFOcomponent_container_mt-29process started with pid [7798] + 5.01sINFOcomponent_container_mt-30process started with pid [7799] + 5.01sINFOexecute_objective_bridge-31process started with pid [7800] + 5.01sINFOui_teleop_bridge-32process started with pid [7801] + 5.01sINFOweb_bridge-33process started with pid [7820] + 5.02sINFOtf2_web_republisher_node-34process started with pid [7821] + 5.02sINFOvideo_server-35process started with pid [7822] + 5.02sINFOweb_bridge_auth_proxy-36process started with pid [7823] + 5.02sINFOweb_video_auth_proxy-37process started with pid [7824] + 5.02sINFOcomponent_container_isolated-1process started with pid [7635] + 5.02sINFOcomponent_container_isolated-2process started with pid [7636] + 5.02sINFOstatic_transform_publisher-3process started with pid [7637] + 5.02sINFOstatic_transform_publisher-4process started with pid [7638] + 5.02sINFOodom_qos_relay.py-5process started with pid [7639] + 5.02sINFOlidar_flattener.py-6process started with pid [7640] + 5.03sINFOstatic_transform_publisher-7process started with pid [7641] + 5.03sINFOstatic_transform_publisher-8process started with pid [7642] + 5.05sINFOscan_to_scan_filter_chain-9process started with pid [7643] + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.05sINFOscan_to_scan_filter_chain-10process started with pid [7739] + 5.05sINFOros2-12process started with pid [7741] + 5.05sINFOros2-13process started with pid [7742] + 5.05sINFOros2-14process started with pid [7743] + 5.05sINFOros2-15process started with pid [7744] + 5.05sINFOros2-16process started with pid [7745] + 5.05sINFOros2-17process started with pid [7746] + 5.05sINFOros2-18process started with pid [7747] + 5.05sINFOros2-19process started with pid [7748] + 5.05sINFOros2-20process started with pid [7749] + 5.05sINFOros2-21process started with pid [7752] + 5.05sINFOros2-22process started with pid [7753] + 5.10sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.10sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.10sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.10sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.10sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.10sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.10sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.10sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.10sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.10sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.10sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.10sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.10sWARNros2_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 + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.310091 ms (missed cycles : 4).[0m + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.22sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.33sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.34sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.35sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.35sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.40sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.47sINFOvideo_server2026/09/17 22:31:21 INF MediaMTX v1.20.1, linux, amd64 + 5.48sINFOvideo_server2026/09/17 22:31:21 INF configuration loaded from /tmp/moveit-webrtc-7z9a_nar/mediamtx.yml + 5.48sINFOvideo_server2026/09/17 22:31:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.48sINFOvideo_server2026/09/17 22:31:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.59sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.61sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.73sINFOmove_groupLoaded robot model in 0.397151 seconds[0m + 5.73sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.73sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.75sWARNscan_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 + 6.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766052 ms (missed cycles : 2).[0m + 6.43sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.44sWARNmove_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 + 6.45sWARNmove_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 + 6.45sWARNmove_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 + 6.45sWARNmove_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 + 6.45sWARNmove_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 + 6.45sWARNmove_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 + 6.68sINFOmove_group[2026-09-17 22:31:22.858] [moveit_pro_license] [info] + 6.68sINFOmove_group************************************************* ×6 + 6.68sINFOmove_group* MoveIt Pro License ×3 + 6.68sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 6.84sINFOwaypoint_manager_nodeLoaded robot model in 0.407236 seconds[0m + 6.84sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.84sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.98sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.99sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.02sINFOros2_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 + 7.02sINFOros2_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 + 7.07sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.08sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.08sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.08sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.08sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.08sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.08sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.08sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.08sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.09sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.09sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.19sWARNwaypoint_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 + 7.19sWARNwaypoint_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 + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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 + 7.20sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.21sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.22sWARNwaypoint_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 + 7.23sWARNwaypoint_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 + 7.23sWARNwaypoint_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 + 7.23sWARNwaypoint_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 + 7.23sWARNwaypoint_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 + 7.23sWARNwaypoint_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 + 7.23sWARNwaypoint_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 + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828666 ms (missed cycles : 2).[0m + 7.53sINFOwaypoint_manager_node[2026-09-17 22:31:23.704] [moveit_pro_license] [info] + 7.53sINFOwaypoint_manager_node************************************************* ×6 + 7.53sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.53sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.85sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.85sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.85sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.91sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.91sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.91sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.91sWARNros2_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 + 7.91sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.91sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.91sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.91sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.91sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.91sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.91sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.91sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.91sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.91sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.91sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.06sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 8.08sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.08sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.09sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.09sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.09sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.09sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.09sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.09sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 8.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.10sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 8.10sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 8.13sINFOros2_control_nodeconfigure successful[0m ×9 + 8.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 8.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 8.14sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 8.14sINFOobjective_server_node[2026-09-17 22:31:24.318] [moveit_pro_license] [info] + 8.14sINFOobjective_server_node************************************************* ×8 + 8.14sINFOobjective_server_node* MoveIt Pro License ×4 + 8.14sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.16sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.23sINFOobjective_server_nodeLoaded robot model in 0.0348859 seconds[0m + 8.23sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.23sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844294 ms (missed cycles : 2).[0m + 8.38sINFOcomponent_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 + 8.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 8.41sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.45sINFOros2-15process has finished cleanly [pid 7744] + 8.47sWARNcomponent_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 + 8.47sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 8.48sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 8.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.72sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.79sINFOobjective_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 + 8.79sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.81sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.81sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.81sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.81sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.81sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.81sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.81sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.89sINFOcomponent_container_mtLoaded robot model in 0.42552 seconds[0m + 8.89sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.89sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.89sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.89sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 8.93sINFOros2-17process has finished cleanly [pid 7746] + 8.93sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.00sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 9.06sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 9.06sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 9.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.08sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.13sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.21sWARNcomponent_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 + 9.21sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.22sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.23sWARNcomponent_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 + 9.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.32sINFOmove_group ×12 + 9.32sINFOmove_group******************************************************** ×6 + 9.32sINFOmove_group* MoveGroup using: ×3 + 9.32sINFOmove_group* - apply_planning_scene_service ×3 + 9.32sINFOmove_group* - clear_octomap_service ×3 + 9.32sINFOmove_group* - get_group_urdf ×3 + 9.32sINFOmove_group* - load_geometry_from_file ×3 + 9.32sINFOmove_group* - get_planning_scene_service ×3 + 9.32sINFOmove_group* - kinematics_service ×3 + 9.32sINFOmove_group* - save_geometry_to_file ×3 + 9.32sINFOmove_group* - GetPlanningGroups ×3 + 9.32sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.32sINFOmove_group[0m ×3 + 9.32sINFOmove_group[92mYou can start planning now![0m ×3 + 9.34sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.46sINFOcomponent_container_mt[2026-09-17 22:31:25.634] [moveit_pro_license] [info] + 9.46sINFOcomponent_container_mt************************************************* ×6 + 9.46sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.46sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.47sINFOros2_control_node[2026-09-17 22:31:25.651] [info] Controller state will be published at 20 Hz. + 9.47sINFOros2_control_node[2026-09-17 22:31:25.652] [info] JointVelocityController 'on_configure' succeeded. + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465813 ms (missed cycles : 3).[0m + 9.78sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 9.78sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 9.79sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 9.81sINFOros2-22process has finished cleanly [pid 7753] + 9.84sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 9.84sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 9.85sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.91sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.91sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 9.94sWARNros2_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 + 9.98sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.98sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.14sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 10.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 10.17sINFOros2-12process has finished cleanly [pid 7741] + 10.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 10.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 10.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.27sWARNobjective_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 + 10.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801359 ms (missed cycles : 5).[0m + 10.54sINFOros2_control_node[2026-09-17 22:31:26.714] [info] Controller state will be published at 20 Hz. + 10.54sINFOros2_control_node[2026-09-17 22:31:26.715] [info] JointVelocityController 'on_configure' succeeded. + 10.85sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 10.85sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 10.87sINFOros2-21process has finished cleanly [pid 7752] + 10.97sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 11.02sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 11.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 11.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.37sINFOros2_control_node[2026-09-17 22:31:27.548] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.37sINFOros2_control_node[2026-09-17 22:31:27.551] [info] Controller state will be published at 10 Hz. + 11.37sINFOros2_control_node[2026-09-17 22:31:27.552] [info] VelocityForceController 'on_configure' succeeded. + 11.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 11.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 11.67sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.099100 ms (missed cycles : 5).[0m + 11.72sINFOros2-19process has finished cleanly [pid 7748] + 11.76sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 11.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 11.77sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 11.77sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 11.77sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 11.77sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 11.77sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 11.77sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 12.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 12.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 12.12sINFOros2-18process has finished cleanly [pid 7747] + 12.13sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 12.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 12.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 12.14sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 12.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 12.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 12.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 12.47sINFOros2-13process has finished cleanly [pid 7742] + 12.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 12.49sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 12.49sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 12.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 12.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 12.83sINFOros2-14process has finished cleanly [pid 7743] + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352166 ms (missed cycles : 3).[0m + 12.85sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 12.85sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 12.85sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 12.91sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 12.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.22sINFOros2_control_node[2026-09-17 22:31:29.401] [warning] No force/torque sensor configured. The VFC will ignore force references. + 13.22sINFOros2_control_node[2026-09-17 22:31:29.402] [info] Controller state will be published at 10 Hz. + 13.22sINFOros2_control_node[2026-09-17 22:31:29.403] [info] VelocityForceController 'on_configure' succeeded. + 13.54sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.55sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.55sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_b46g4ft8 --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_kuxtn96a --params-file /tmp/launch_params_ygz35om9 [0m + 13.57sINFOros2-20process has finished cleanly [pid 7749] + 13.57sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.60sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 13.60sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.60sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.61sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 13.83sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 13.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.85sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 13.85sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 13.92sINFOros2-16process has finished cleanly [pid 7745] + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220147 ms (missed cycles : 2).[0m + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944565 ms (missed cycles : 4).[0m + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616232 ms (missed cycles : 3).[0m + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738892 ms (missed cycles : 3).[0m + 17.96sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011295 ms (missed cycles : 4).[0m + 18.95sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.95sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.95sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.95sINFOobjective_server_nodecaller: ×27 + 18.95sINFOobjective_server_nodetype: 0 ×27 + 18.95sINFOobjective_server_nodename: "" ×27 + 18.95sINFOobjective_server_nodeinstance_id: "" ×27 + 18.95sINFOobjective_server_node ×27 + 18.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684295.16983628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.99sINFOmove_groupClearing octomap...[0m ×7 + 18.99sINFOmove_groupOctomap cleared.[0m ×7 + 18.99sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684295.18003559 seconds + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686178 ms (missed cycles : 2).[0m + 19.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684295.75818229 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684295.76829791 seconds + 20.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684296.34711361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684296.49761844 seconds + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.449552 ms (missed cycles : 3).[0m + 20.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684297.12064457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.95sINFOobjective_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 + 20.96sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 20.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684297.19095874 seconds + 21.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684297.77519679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197266 ms (missed cycles : 3).[0m + 22.67sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430531 ms (missed cycles : 3).[0m + 22.97sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.97sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620930 ms (missed cycles : 4).[0m + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559628 ms (missed cycles : 2).[0m + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025306 ms (missed cycles : 4).[0m + 27.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866973 ms (missed cycles : 2).[0m + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879953 ms (missed cycles : 3).[0m + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548423 ms (missed cycles : 3).[0m + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479986 ms (missed cycles : 4).[0m + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834360 ms (missed cycles : 2).[0m + 32.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529287 ms (missed cycles : 2).[0m + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439549 ms (missed cycles : 3).[0m + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027121 ms (missed cycles : 3).[0m + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752416 ms (missed cycles : 2).[0m + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841497 ms (missed cycles : 2).[0m + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476634 ms (missed cycles : 3).[0m + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277366 ms (missed cycles : 3).[0m + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105176 ms (missed cycles : 2).[0m + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111416 ms (missed cycles : 4).[0m + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836335 ms (missed cycles : 3).[0m + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881466 ms (missed cycles : 2).[0m + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429985 ms (missed cycles : 3).[0m + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326248 ms (missed cycles : 2).[0m + 46.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052974 ms (missed cycles : 2).[0m + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206760 ms (missed cycles : 3).[0m + 48.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611908 ms (missed cycles : 2).[0m + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109755 ms (missed cycles : 4).[0m + 50.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750025 ms (missed cycles : 2).[0m + 51.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476752 ms (missed cycles : 2).[0m + 52.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958680 ms (missed cycles : 2).[0m + 53.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384625 ms (missed cycles : 3).[0m + 53.98sWARNros2_control_nodeCamera render tick took 0.50 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 + 54.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 55.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249779 ms (missed cycles : 2).[0m + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306299 ms (missed cycles : 2).[0m + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949538 ms (missed cycles : 3).[0m + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589443 ms (missed cycles : 4).[0m + 59.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525697 ms (missed cycles : 2).[0m + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446521 ms (missed cycles : 2).[0m + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186041 ms (missed cycles : 3).[0m + 62.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803923 ms (missed cycles : 5).[0m + 63.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371222 ms (missed cycles : 3).[0m + 64.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 64.56sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789684340.75491786 seconds + 64.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 64.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 64.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 64.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799353 ms (missed cycles : 3).[0m + 65.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789684341.33872437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343391 ms (missed cycles : 3).[0m + 66.26sINFOobjective_server_nodeFound path in 0 iterations (2.1351e-05 s). + 66.33sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410637 ms (missed cycles : 3).[0m + 67.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044866 ms (missed cycles : 2).[0m + 69.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875354 ms (missed cycles : 3).[0m + 70.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266259 ms (missed cycles : 2).[0m + 70.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789684346.88885641 seconds + 71.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697410 ms (missed cycles : 2).[0m + 71.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789684347.46936560 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.99sWARNobjective_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 + 72.00sERRORobjective_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. ×8 + 72.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789684348.17955923 seconds + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374569 ms (missed cycles : 3).[0m + 72.63sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.67sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789684348.85300612 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051313 ms (missed cycles : 2).[0m + 73.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789684349.56317472 seconds + 73.95sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.99sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789684350.16833091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450618 ms (missed cycles : 3).[0m + 74.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789684350.92849517 seconds + 75.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850588 ms (missed cycles : 2).[0m + 75.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789684351.53191233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.85sWARNros2_control_nodeCamera render tick took 0.52 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 + 75.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m + 76.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789684352.36207366 seconds + 76.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718125 ms (missed cycles : 3).[0m + 76.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.79sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789684352.97290683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418701 ms (missed cycles : 3).[0m + 77.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789684353.70306778 seconds + 78.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894207 ms (missed cycles : 3).[0m + 79.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161763 ms (missed cycles : 2).[0m + 80.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173845 ms (missed cycles : 3).[0m + 81.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758344 ms (missed cycles : 2).[0m + 82.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027189 ms (missed cycles : 2).[0m + 83.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981130 ms (missed cycles : 3).[0m + 85.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088191 ms (missed cycles : 4).[0m + 86.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772020 ms (missed cycles : 2).[0m + 87.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700250 ms (missed cycles : 3).[0m + 87.35sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789684363.56722093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789684364.29737663 seconds + 88.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339505 ms (missed cycles : 2).[0m + 88.70sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789684364.91594577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420330 ms (missed cycles : 3).[0m + 90.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710783 ms (missed cycles : 2).[0m + 91.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088040 ms (missed cycles : 4).[0m + 93.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852395 ms (missed cycles : 2).[0m + 94.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560606 ms (missed cycles : 2).[0m + 94.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789684370.75607824 seconds + 95.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512480 ms (missed cycles : 3).[0m + 95.13sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789684371.34294558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789684372.12510991 seconds + 96.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655076 ms (missed cycles : 2).[0m + 96.51sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789684372.74290562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789684373.49306226 seconds + 97.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725945 ms (missed cycles : 2).[0m + 97.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789684374.10911775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495256 ms (missed cycles : 3).[0m + 99.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029364 ms (missed cycles : 2).[0m +100.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309322 ms (missed cycles : 3).[0m +100.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789684376.85922980 seconds +101.22sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789684377.44004488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588833 ms (missed cycles : 3).[0m +102.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789684378.32016397 seconds +102.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033727 ms (missed cycles : 2).[0m +103.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747307 ms (missed cycles : 3).[0m +104.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403954 ms (missed cycles : 2).[0m +105.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199563 ms (missed cycles : 4).[0m +106.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724441 ms (missed cycles : 2).[0m +107.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438822 ms (missed cycles : 2).[0m +108.50sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.50sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.50sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.52sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.52sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.52sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.52sERRORweb_video_auth_proxy-37process has died [pid 7824, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +108.53sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.53sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.53sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.53sERRORweb_bridge_auth_proxy-36process has died [pid 7823, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +108.53sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.55sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.56sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.57sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.58sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.59sINFOvideo_server-35process has finished cleanly [pid 7822] +108.59sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.60sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.61sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.62sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.63sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.64sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.65sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.67sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.68sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.68sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.69sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.70sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.71sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.71sERRORmove_group-23process has died [pid 7754, 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_z2l_f2w3 --params-file /tmp/launch_params_evz5skvr --params-file /tmp/launch_params_dhq77ief --params-file /tmp/launch_params_qg3jg_q8 --params-file /tmp/launch_params_6clek16o --params-file /tmp/launch_params_air53ss9']. +108.72sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.73sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.74sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.75sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.76sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.76sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.77sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.77sINFOvideo_server2026/09/17 22:33:04 INF shutting down gracefully +108.77sINFOvideo_server2026/09/17 22:33:04 INF [WebRTC] closing +108.77sINFOvideo_server2026/09/17 22:33:04 INF [RTSP] closing +108.77sINFOvideo_server2026/09/17 22:33:04 INF waiting for running hooks +108.77sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.77sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.77sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.77sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.77sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.77sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.78sINFOcomponent_container_mtStopping planning scene monitor[0m +108.78sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.78sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.78sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.78sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.78sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.78sERRORmove_groupStack trace (most recent call last) in thread 8386: +108.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ee2487a63, in __clone +108.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ee23faaa3, in +108.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ee268cdb3, in +108.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f5ee2df0b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5ee2a1e620, in rclcpp::Rate::sleep() +108.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5ee2960d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f5ee2922087, in +108.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ee265b390, in __cxa_throw +108.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ee2645a54, in std::terminate() +108.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ee265b0d9, in +108.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5ee2645ff4, in +108.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ee23868fe, in abort +108.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ee23a327d, in raise +108.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5ee23fcb2c, in pthread_kill +108.78sERRORmove_groupAborted (Signal sent by tkill() 7754 0) +108.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.78sINFOros2_control_nodeShutdown request received....[0m +108.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.78sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.78sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.78sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.78sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.78sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.78sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.78sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.78sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.78sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.78sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.78sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.78sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.78sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.78sINFOros2_control_nodeShutting down the controller manager.[0m +108.78sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +108.78sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.78sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.78sERRORodom_qos_relay.pyTraceback (most recent call last): +108.78sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +108.78sINFOodom_qos_relay.pymain() +108.78sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +108.78sINFOodom_qos_relay.pyrclpy.spin(node) +108.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.79sINFOodom_qos_relay.pyexecutor.spin_once() +108.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.79sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.79sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.79sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.79sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.79sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.79sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.79sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.90sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.90sINFOros2_control_nodepublish_async_failures_ 2[0m +108.90sINFOros2_control_nodepublish_async_failures_ 3[0m +109.10sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m +109.59sERRORcomponent_container_isolated-1process has died [pid 7635, 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_mb25jsfn --params-file /tmp/launch_params_48l7d0b4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +109.62sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7821] +109.62sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.68sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7796] +109.69sINFOui_teleop_bridge-32process has finished cleanly [pid 7801] +109.69sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7795] +109.69sINFOexecute_objective_bridge-31process has finished cleanly [pid 7800] +109.73sINFOparameter_manager_node-24process has finished cleanly [pid 7757] +109.74sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7739] +109.75sINFOwaypoint_manager_node-25process has finished cleanly [pid 7794] +109.75sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7643] +109.76sINFOstatic_transform_publisher-8process has finished cleanly [pid 7642] +109.77sINFOstatic_transform_publisher-7process has finished cleanly [pid 7641] +109.77sINFOcomponent_container_mt-30process has finished cleanly [pid 7799] +109.77sERRORlidar_flattener.pyTraceback (most recent call last): +109.77sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.77sINFOlidar_flattener.pymain() +109.77sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.77sINFOlidar_flattener.pyrclpy.spin(node) +109.77sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.77sINFOlidar_flattener.pyexecutor.spin_once() +109.78sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.78sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.78sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.78sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.78sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.78sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.78sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.78sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.78sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.78sINFOlidar_flattener.pyraise ExternalShutdownException() +109.78sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.79sINFOstatic_transform_publisher-4process has finished cleanly [pid 7638] +109.80sINFOstatic_transform_publisher-3process has finished cleanly [pid 7637] +109.81sINFOobjective_server_node[2026-09-17 22:33:05.993] [moveit_pro_license] [info] +109.82sINFOobjective_server_node* Application has successfully terminated +109.82sERRORlidar_flattener.py-6process has died [pid 7640, 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_udzclgxj']. +109.83sERRORodom_qos_relay.py-5process has died [pid 7639, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +109.87sINFOobjective_server_node_main-28process has finished cleanly [pid 7797] +109.87sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +110.81sINFOcomponent_container_mt-29process has finished cleanly [pid 7798] +111.11sERRORcomponent_container_isolated-2process has died [pid 7636, 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_mb25jsfn --params-file /tmp/launch_params_5powbal3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +111.43sINFOros2_control_node-11process has finished cleanly [pid 7740] +111.49sINFOweb_bridge-33process has finished cleanly [pid 7820] +111.49sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +117.01sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-17-22-33-11-586360-cfacba15e3af-8702 ×2 +121.72sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' +121.72sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' +121.73sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' +121.73sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform translation: ('-0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '0.382683', '0.923880') from 'ridgeback_base_link' to 'lidar_rear_ROS' +121.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +121.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.77sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +121.80sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +121.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +121.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +121.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.86sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.86sINFOmap_serverCreating +121.96sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +121.98sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +121.98sINFOcontroller_managerupdate rate is 600 Hz +121.98sINFOcontroller_managerOverruns handling is : enabled +121.98sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +121.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +121.99sWARNcontroller_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. +122.01sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +122.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.02sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.06sINFOcontroller_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. +122.08sINFOros2_control_node-11process started with pid [8856] ×2 +122.08sINFOmove_group-23process started with pid [8875] ×2 +122.08sINFOparameter_manager_node-24process started with pid [8876] ×2 +122.08sINFOwaypoint_manager_node-25process started with pid [8929] ×2 +122.08sINFOmove_joint_resampler_node-26process started with pid [8930] ×2 +122.08sINFOmove_end_effector_resampler_node-27process started with pid [8935] ×2 +122.08sINFOobjective_server_node_main-28process started with pid [8936] ×2 +122.08sINFOcomponent_container_mt-29process started with pid [8941] ×2 +122.08sINFOcomponent_container_mt-30process started with pid [8946] ×2 +122.08sINFOexecute_objective_bridge-31process started with pid [8947] ×2 +122.08sINFOui_teleop_bridge-32process started with pid [8948] ×2 +122.08sINFOweb_bridge-33process started with pid [8950] ×2 +122.08sINFOtf2_web_republisher_node-34process started with pid [8952] ×2 +122.08sINFOvideo_server-35process started with pid [8953] ×2 +122.08sINFOweb_bridge_auth_proxy-36process started with pid [8954] ×2 +122.08sINFOweb_video_auth_proxy-37process started with pid [8969] ×2 +122.08sINFOcomponent_container_isolated-1process started with pid [8752] ×2 +122.08sINFOcomponent_container_isolated-2process started with pid [8753] ×2 +122.08sINFOstatic_transform_publisher-3process started with pid [8754] ×2 +122.08sINFOstatic_transform_publisher-4process started with pid [8755] ×2 +122.08sINFOodom_qos_relay.py-5process started with pid [8756] ×2 +122.08sINFOlidar_flattener.py-6process started with pid [8757] ×2 +122.08sINFOstatic_transform_publisher-7process started with pid [8758] ×2 +122.08sINFOstatic_transform_publisher-8process started with pid [8759] ×2 +122.08sINFOscan_to_scan_filter_chain-9process started with pid [8760] ×2 +122.08sINFOscan_to_scan_filter_chain-10process started with pid [8853] ×2 +122.08sINFOros2-12process started with pid [8857] ×2 +122.08sINFOros2-13process started with pid [8858] ×2 +122.09sINFOros2-14process started with pid [8860] ×2 +122.09sINFOros2-15process started with pid [8861] ×2 +122.09sINFOros2-16process started with pid [8862] ×2 +122.09sINFOros2-17process started with pid [8863] ×2 +122.09sINFOros2-18process started with pid [8864] ×2 +122.09sINFOros2-19process started with pid [8867] ×2 +122.09sINFOros2-20process started with pid [8868] ×2 +122.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433650 ms (missed cycles : 7). +122.12sINFOros2-21process started with pid [8869] ×2 +122.12sINFOros2-22process started with pid [8872] ×2 +122.13sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.13sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.14sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.433650 ms (missed cycles : 7).[0m ×2 +122.15sINFOcontroller_serverCreating controller server +122.18sINFOlifecycle_manager_localizationCreating +122.18sINFOlocal_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. +122.20sINFOlocal_costmap.local_costmapCreating Costmap +122.21sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.23sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +122.23sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +122.23sINFOmap_serverConfiguring +122.23sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +122.23sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +122.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +122.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.28sINFOsmoother_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. +122.32sINFOsmoother_serverCreating smoother server +122.33sINFOrobot_state_publisherRobot initialized +122.33sINFOcontroller_managerReceived robot description from topic. +122.33sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +122.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +122.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +122.38sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +122.38sINFOamclConfiguring +122.38sINFOplanner_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. +122.38sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +122.39sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +122.39sINFOmap_serverActivating +122.39sINFOmap_serverCreating bond (map_server) to lifecycle manager. +122.40sINFOplanner_serverCreating +122.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.42sINFOglobal_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. +122.43sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +122.44sINFOglobal_costmap.global_costmapCreating Costmap +122.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +122.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.46sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +122.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +122.49sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.50sINFOlifecycle_manager_localizationServer map_server connected with bond. +122.50sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +122.50sINFOamclActivating +122.50sINFOamclSubscribed to initial_pose_topic: /initialpose +122.51sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +122.53sINFOamclSubscribed to map_topic: /map +122.53sINFOamclSubscribed to scan_topic: /scan_merged +122.53sINFOamclCreated reinitialize_global_localization service +122.54sINFOamclCreated request_nomotion_update service +122.54sINFOamclA new map was received +122.54sINFOamclInitializing particle filter instance +122.54sINFOvideo_server2026/09/17 22:33:18 INF MediaMTX v1.20.1, linux, amd64 ×2 +122.54sINFOvideo_server2026/09/17 22:33:18 INF configuration loaded from /tmp/moveit-webrtc-b4gdnfsj/mediamtx.yml ×2 +122.54sINFOvideo_server2026/09/17 22:33:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +122.54sINFOvideo_server2026/09/17 22:33:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +122.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +122.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.62sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.63sINFObt_navigatorCreating +122.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +122.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.69sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.70sINFOwaypoint_followerCreating +122.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +122.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.74sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.75sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +122.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.78sINFOlifecycle_manager_navigationCreating +122.80sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.83sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +122.83sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +122.83sINFOcontroller_serverConfiguring controller interface +122.83sINFOcontroller_servergetting progress checker plugins.. +122.83sINFOcontroller_servergetting goal checker plugins.. +122.83sINFOcontroller_serverController frequency set to 20.0000Hz +122.83sINFOlocal_costmap.local_costmapConfiguring +122.84sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +122.85sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +122.88sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.306438 seconds +122.88sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +122.88sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +122.88sINFOmove_groupLoaded robot model in 0.306438 seconds[0m ×2 +122.90sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +122.90sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +122.90sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +122.90sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +122.93sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +122.94sINFOcontroller_serverController Server has progress_checker progress checkers available. +122.94sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +122.94sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +122.94sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +122.95sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +122.96sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +122.96sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +122.97sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +122.97sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +122.98sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +122.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +122.98sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +122.98sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +122.99sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +122.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +123.00sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +123.01sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +123.01sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +123.01sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... +123.02sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +123.02sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +123.02sINFOcontroller_serverOptimizer reset ×2 +123.04sINFOcontroller_serverController Server has FollowPath controllers available. +123.06sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +123.06sINFOsmoother_serverConfiguring smoother server +123.07sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +123.08sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +123.08sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +123.08sINFOplanner_serverConfiguring +123.08sINFOglobal_costmap.global_costmapConfiguring +123.09sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +123.10sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +123.10sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +123.10sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +123.10sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +123.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845192 ms (missed cycles : 2). +123.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845192 ms (missed cycles : 2).[0m ×2 +123.13sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +123.13sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +123.13sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +123.18sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +123.18sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +123.18sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +123.20sINFOplanner_serverPlanner Server has GridBased planners available. +123.23sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +123.23sINFObehavior_serverConfiguring +123.24sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +123.24sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +123.25sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +123.25sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +123.26sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +123.27sINFObehavior_serverConfiguring spin +123.28sINFObehavior_serverConfiguring backup +123.29sINFObehavior_serverConfiguring drive_on_heading +123.30sINFObehavior_serverConfiguring assisted_teleop +123.32sINFObehavior_serverConfiguring wait +123.33sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +123.33sINFObt_navigatorConfiguring +123.33sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +123.33sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application +123.36sINFOamclParticle filter initialization completed +123.37sINFOamclInitializing particles from estimated pose and covariance +123.37sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +123.41sINFOlifecycle_manager_localizationServer amcl connected with bond. +123.41sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +123.41sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +123.47sINFOamclThe bond connection to the lifecycle manager is now fully formed +123.51sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +123.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.52sWARNmove_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. +123.52sWARNmove_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. +123.52sWARNmove_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. +123.52sWARNmove_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. +123.52sWARNmove_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. +123.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.54sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +123.59sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +123.59sINFOwaypoint_followerConfiguring +123.62sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +123.63sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +123.63sINFOvelocity_smootherConfiguring velocity smoother +123.64sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +123.64sINFOcontroller_serverActivating +123.64sINFOlocal_costmap.local_costmapActivating +123.64sINFOlocal_costmap.local_costmapChecking transform +123.64sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×10 +123.78sINFOmove_group[2026-09-17 22:33:19.960] [moveit_pro_license] [info] ×2 +123.80sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +123.80sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +123.85sINFOwaypoint_manager_nodeLoaded robot model in 0.38988 seconds[0m ×2 +124.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730618 ms (missed cycles : 2). +124.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730618 ms (missed cycles : 2).[0m ×2 +124.29sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +124.29sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +124.29sWARNwaypoint_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. +124.29sWARNwaypoint_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. +124.29sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +124.29sWARNwaypoint_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. +124.30sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +124.30sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +124.30sWARNwaypoint_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. +124.30sWARNwaypoint_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. +124.30sWARNwaypoint_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. +124.30sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +124.30sWARNwaypoint_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. +124.30sWARNwaypoint_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. +124.30sWARNwaypoint_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. +124.30sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +124.31sWARNwaypoint_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. +124.31sWARNwaypoint_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. +124.31sWARNwaypoint_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. +124.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +124.31sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +124.31sWARNwaypoint_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. +124.31sWARNwaypoint_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. +124.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +124.31sWARNwaypoint_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. +124.31sWARNwaypoint_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. +124.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +124.32sWARNwaypoint_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. +124.32sWARNwaypoint_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. +124.32sWARNwaypoint_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. +124.32sWARNwaypoint_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. +124.32sWARNwaypoint_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. +124.32sWARNwaypoint_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. +124.33sWARNwaypoint_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. +124.33sWARNwaypoint_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. +124.33sWARNwaypoint_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. +124.33sWARNwaypoint_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. +124.33sWARNwaypoint_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. +124.33sWARNwaypoint_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. +124.58sINFOwaypoint_manager_node[2026-09-17 22:33:20.760] [moveit_pro_license] [info] ×2 +124.71sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +124.71sINFOcontroller_managerActivating component 'ur_mujoco_control'. +124.71sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +124.71sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +124.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +124.77sINFOcontroller_managerLoading controller 'velocity_force_controller' +124.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +124.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +124.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +124.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +125.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574169 ms (missed cycles : 3). +125.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574169 ms (missed cycles : 3).[0m ×2 +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +125.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.21sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +125.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +125.25sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +125.25sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +125.25sINFOstreaming_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) +125.25sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +125.34sINFOros2_control_node[2026-09-17 22:33:21.518] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +125.34sINFOros2_control_node[2026-09-17 22:33:21.520] [info] Controller state will be published at 10 Hz. ×2 +125.34sINFOros2_control_node[2026-09-17 22:33:21.522] [info] VelocityForceController 'on_configure' succeeded. ×2 +125.36sINFOobjective_server_node[2026-09-17 22:33:21.535] [moveit_pro_license] [info] ×2 +125.41sINFOobjective_server_nodeLoaded robot model in 0.022572 seconds[0m ×2 +125.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.46sINFOstreaming_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) +125.46sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.48sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +125.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +125.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +125.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +125.65sINFOros2-19process has finished cleanly [pid 8867] ×2 +125.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.70sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +125.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +125.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +125.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +125.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +125.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +125.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +125.84sINFOcomponent_container_mtLoaded robot model in 0.346043 seconds[0m ×2 +125.87sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.88sWARNobjective_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. +126.01sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +126.01sINFOcontroller_managerLoading controller 'vacuum_gripper' +126.02sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +126.02sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +126.04sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +126.05sINFOros2-18process has finished cleanly [pid 8864] ×2 +126.06sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +126.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +126.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +126.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +126.08sINFOcontroller_managerSuccessfully switched controllers! ×20 +126.08sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.21sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.22sWARNplanning_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. +126.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280959 ms (missed cycles : 2). +126.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280959 ms (missed cycles : 2).[0m ×2 +126.24sWARNros2_control_nodeCamera render tick took 0.60 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 +126.25sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +126.27sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.28sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.38sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +126.38sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +126.39sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +126.39sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +126.40sINFOros2-16process has finished cleanly [pid 8862] ×2 +126.43sINFOcomponent_container_mt[2026-09-17 22:33:22.605] [moveit_pro_license] [info] ×2 +126.44sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +126.45sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +126.45sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +126.46sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +126.65sINFOmove_groupMoveGroup debug mode is ON +126.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +126.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +126.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +126.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +126.78sINFOros2-13process has finished cleanly [pid 8858] ×2 +126.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +126.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +126.82sINFOforce_torque_sensor_broadcasterconfigure successful +126.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +126.83sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +126.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 +126.86sINFOmove_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 ******************************************************** +127.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +127.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' +127.14sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +127.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +127.18sINFOros2-12process has finished cleanly [pid 8857] ×2 +127.20sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +127.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +127.21sINFOplatform_velocity_controllerconfigure successful +127.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +127.22sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +127.30sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789684401.819 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +127.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739033 ms (missed cycles : 2). +127.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739033 ms (missed cycles : 2).[0m ×2 +127.50sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.50sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +127.53sINFOros2-15process has finished cleanly [pid 8861] ×2 +127.59sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +127.59sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +127.63sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +127.63sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +127.95sINFOros2_control_node[2026-09-17 22:33:24.130] [info] Controller state will be published at 20 Hz. ×2 +127.95sINFOros2_control_node[2026-09-17 22:33:24.131] [info] JointVelocityController 'on_configure' succeeded. ×2 +128.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +128.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +128.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +128.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +128.29sINFOros2-22process has finished cleanly [pid 8872] ×2 +128.32sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +128.32sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +128.32sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +128.33sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +128.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +128.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904670 ms (missed cycles : 2). +128.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904670 ms (missed cycles : 2).[0m ×2 +128.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +128.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' +128.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +128.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +128.64sINFOlocal_costmap.local_costmapstart +128.66sINFOros2-14process has finished cleanly [pid 8860] ×2 +128.69sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +128.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +128.75sWARNcontroller_serverParameter controller_server.verbose not found +128.75sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +128.86sINFOlifecycle_manager_navigationServer controller_server connected with bond. +128.86sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +128.86sINFOsmoother_serverActivating +128.86sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +128.96sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +128.96sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +128.96sINFOplanner_serverActivating +128.96sINFOglobal_costmap.global_costmapActivating +128.96sINFOglobal_costmap.global_costmapChecking transform +128.96sINFOglobal_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. +129.04sINFOros2_control_node[2026-09-17 22:33:25.220] [info] Controller state will be published at 20 Hz. ×2 +129.04sINFOros2_control_node[2026-09-17 22:33:25.221] [info] JointVelocityController 'on_configure' succeeded. ×2 +129.14sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789684404.500 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.35sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 5.700ms +129.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +129.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +129.36sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +129.36sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +129.39sINFOros2-21process has finished cleanly [pid 8869] ×2 +129.41sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +129.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +129.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508281 ms (missed cycles : 2). +129.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508281 ms (missed cycles : 2).[0m ×2 +129.46sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789684405.630220, but only time 1789684406.030611 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +129.75sINFOros2_control_node[2026-09-17 22:33:25.931] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.76sINFOros2_control_node[2026-09-17 22:33:25.934] [info] Controller state will be published at 10 Hz. ×2 +129.76sINFOros2_control_node[2026-09-17 22:33:25.935] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.86sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789684404.500 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.96sINFOglobal_costmap.global_costmapstart +130.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +130.07sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +130.07sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep +130.07sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sery0l_e --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_ywj87pip --params-file /tmp/launch_params_oa9muhep [0m ×2 +130.11sINFOros2-20process has finished cleanly [pid 8868] ×2 +130.13sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +130.13sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +130.13sINFOplatform_velocity_controller_nav2configure successful +130.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +130.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +130.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +130.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +130.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +130.47sINFOros2-17process has finished cleanly [pid 8863] ×2 +130.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906524 ms (missed cycles : 2). +130.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906524 ms (missed cycles : 2).[0m ×2 +131.01sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +131.01sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +131.12sINFOlifecycle_manager_navigationServer planner_server connected with bond. +131.12sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +131.12sINFObehavior_serverActivating +131.12sINFObehavior_serverActivating spin +131.12sINFObehavior_serverActivating backup +131.12sINFObehavior_serverActivating drive_on_heading +131.12sINFObehavior_serverActivating assisted_teleop +131.12sINFObehavior_serverActivating wait +131.12sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +131.22sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +131.22sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +131.22sINFObt_navigatorActivating +131.28sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +131.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +131.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +131.38sINFOwaypoint_followerActivating +131.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +131.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +131.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +131.49sINFOvelocity_smootherActivating +131.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +131.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247510 ms (missed cycles : 3). +131.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247510 ms (missed cycles : 3).[0m ×2 +131.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +131.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +131.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +132.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). +132.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 +133.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). +133.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 +134.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). +134.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 +135.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +135.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +135.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +135.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +135.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 +135.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). +135.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 +136.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +136.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 +136.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +136.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 +137.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). +137.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 +137.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +137.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +137.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +137.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +137.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 +138.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +138.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +138.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +138.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +138.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). +138.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 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/objectives

7 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 1.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.73sINFOobjective_server_nodecaller: ×10 + 1.73sINFOobjective_server_nodetype: 0 ×10 + 1.73sINFOobjective_server_nodename: "" ×10 + 1.73sINFOobjective_server_nodeinstance_id: "" ×10 + 1.73sINFOobjective_server_node ×10 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.77sINFOmove_groupClearing octomap...[0m ×4 + 1.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.77sINFOmove_groupOctomap cleared.[0m ×4 + 1.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_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 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704071 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 2.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.85sINFOobjective_server_nodecaller: ×10 + 2.85sINFOobjective_server_nodetype: 0 ×10 + 2.85sINFOobjective_server_nodename: "" ×10 + 2.85sINFOobjective_server_nodeinstance_id: "" ×10 + 2.85sINFOobjective_server_node ×10 + 2.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.89sINFOmove_groupClearing octomap...[0m ×4 + 2.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.89sINFOmove_groupOctomap cleared.[0m ×4 + 2.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 5.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.41sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	18 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863146 ms (missed cycles : 3).[0m ×2 + 1.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 1.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.73sINFOobjective_server_nodecaller: ×10 + 1.73sINFOobjective_server_nodetype: 0 ×10 + 1.73sINFOobjective_server_nodename: "" ×10 + 1.73sINFOobjective_server_nodeinstance_id: "" ×10 + 1.73sINFOobjective_server_node ×10 + 1.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.77sINFOmove_groupClearing octomap...[0m ×4 + 1.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.77sINFOmove_groupOctomap cleared.[0m ×4 + 1.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 2.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 4.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 5.71sINFOjoint_trajectory_controllerReceived new action goal + 5.71sINFOjoint_trajectory_controllerAccepted new action goal + 5.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.71sINFOros2_control_nodeAccepted new action goal[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2

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

14 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219703 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219703 ms (missed cycles : 5).[0m ×2

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

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2

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

3 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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007663 ms (missed cycles : 2).[0m ×2 + 0.16sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.16sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.69sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.69sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.69sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.69sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.69sINFOobjective_server_nodecaller: ×10 + 0.69sINFOobjective_server_nodetype: 0 ×10 + 0.69sINFOobjective_server_nodename: "" ×10 + 0.69sINFOobjective_server_nodeinstance_id: "" ×10 + 0.69sINFOobjective_server_node ×10 + 0.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789684411.65394783 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.73sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.73sINFOmove_groupClearing octomap...[0m ×4 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.73sINFOmove_groupOctomap cleared.[0m ×4 + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789684411.66412425 seconds ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801648 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789684412.23940063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789684412.24951410 seconds ×3 + 1.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.86sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789684412.82372713 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789684412.97436237 seconds ×3 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977706 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.61sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789684413.57076979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789684413.64090538 seconds ×3 + 3.26sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.26sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789684414.22258091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982251 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996585 ms (missed cycles : 3).[0m ×2 + 4.67sINFOjoint_trajectory_controllerReceived new action goal + 4.67sINFOjoint_trajectory_controllerAccepted new action goal + 4.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798778 ms (missed cycles : 2).[0m ×2