80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.4s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.4s | 18 errors · 35 warnings · 227 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.49sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.49sINFOobjective_server_nodecaller: ×8 + 3.49sINFOobjective_server_nodetype: 0 ×8 + 3.49sINFOobjective_server_nodename: "" ×8 + 3.49sINFOobjective_server_nodeinstance_id: "" ×8 + 3.49sINFOobjective_server_node ×8 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 4.24sWARNros2_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 + 4.32sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 5.01sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 5.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 7.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 7.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 41 warnings · 214 info |
+ 0.00sWARNros2_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 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.73sINFOobjective_server_nodecaller: ×8 + 0.73sINFOobjective_server_nodetype: 0 ×8 + 0.73sINFOobjective_server_nodename: "" ×8 + 0.73sINFOobjective_server_nodeinstance_id: "" ×8 + 0.73sINFOobjective_server_node ×8 + 0.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 2.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 4.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703667.04582357 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277671 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277671 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543025 ms (missed cycles : 4). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543025 ms (missed cycles : 4).[0m ×2 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.3s | 30 errors · 41 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 0.29sINFOjoint_trajectory_controllerGoal reached, success! + 0.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 0.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 0.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.86sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.86sINFOobjective_server_nodecaller: ×10 + 0.86sINFOobjective_server_nodetype: 0 ×10 + 0.86sINFOobjective_server_nodename: "" ×10 + 0.86sINFOobjective_server_nodeinstance_id: "" ×10 + 0.86sINFOobjective_server_node ×10 + 0.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 1.62sWARNros2_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 + 1.69sWARNobjective_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 + 1.70sERRORobjective_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 + 1.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 3.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 4.49sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 5.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 5.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.06sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703667.04582357 seconds ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 38 warnings · 277 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sINFOjoint_trajectory_controllerGoal reached, success! + 1.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.07sINFOobjective_server_nodecaller: ×10 + 2.07sINFOobjective_server_nodetype: 0 ×10 + 2.07sINFOobjective_server_nodename: "" ×10 + 2.07sINFOobjective_server_nodeinstance_id: "" ×10 + 2.07sINFOobjective_server_node ×10 + 2.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 2.82sWARNros2_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 + 2.90sWARNobjective_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 + 2.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 5.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 7.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 7.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.64sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 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 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 30 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 1.47sINFOjoint_trajectory_controllerGoal reached, success! + 1.47sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.07sINFOobjective_server_nodecaller: ×6 + 2.07sINFOobjective_server_nodetype: 0 ×6 + 2.07sINFOobjective_server_nodename: "" ×6 + 2.07sINFOobjective_server_nodeinstance_id: "" ×6 + 2.07sINFOobjective_server_node ×6 + 2.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.84sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.84sERRORobjective_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 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.46sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.79sINFOmove_groupClearing octomap...[0m ×2 + 4.79sINFOmove_groupOctomap cleared.[0m ×2 + 4.80sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.80sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4).[0m ×2 + 7.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703689.94570470 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 29 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788509 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788509 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159573 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159573 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197687 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197687 ms (missed cycles : 2).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836507 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836507 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789703677.00579548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802812 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802812 ms (missed cycles : 3).[0m ×2 + 4.34sWARNobjective_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 + 4.35sERRORobjective_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 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789703677.72597337 seconds ×3 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789703678.33396053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575285 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575285 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.37sINFOjoint_trajectory_controllerReceived new action goal + 5.37sINFOjoint_trajectory_controllerAccepted new action goal + 5.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884148 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884148 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727399 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727399 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 143 warnings · 394 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.85sINFOobjective_server_nodecaller: ×12 + 0.85sINFOobjective_server_nodetype: 0 ×12 + 0.85sINFOobjective_server_nodename: "" ×12 + 0.85sINFOobjective_server_nodeinstance_id: "" ×12 + 0.85sINFOobjective_server_node ×12 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.85sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.85sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.85sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250224 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250224 ms (missed cycles : 2).[0m ×2 + 6.67sWARNros2_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 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486570 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486570 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672255 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672255 ms (missed cycles : 3).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077167 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077167 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623220 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.623220 ms (missed cycles : 5).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726272 ms (missed cycles : 2). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726272 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686231 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686231 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127561 ms (missed cycles : 4). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127561 ms (missed cycles : 4).[0m ×2 + 14.32sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 3.116ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340853 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340853 ms (missed cycles : 3).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599664 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599664 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691022 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691022 ms (missed cycles : 3).[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455146 ms (missed cycles : 4). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455146 ms (missed cycles : 4).[0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933686 ms (missed cycles : 3). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933686 ms (missed cycles : 3).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456440 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456440 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554996 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554996 ms (missed cycles : 3).[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883659 ms (missed cycles : 3). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883659 ms (missed cycles : 3).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816451 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816451 ms (missed cycles : 2).[0m ×2 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295898 ms (missed cycles : 2). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295898 ms (missed cycles : 2).[0m ×2 + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865844 ms (missed cycles : 5). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865844 ms (missed cycles : 5).[0m ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978184 ms (missed cycles : 2). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978184 ms (missed cycles : 2).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352387 ms (missed cycles : 3). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352387 ms (missed cycles : 3).[0m ×2 + 29.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218723 ms (missed cycles : 5). + 29.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218723 ms (missed cycles : 5).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013664 ms (missed cycles : 2). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013664 ms (missed cycles : 2).[0m ×2 + 30.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736961 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736961 ms (missed cycles : 3).[0m ×2 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417568 ms (missed cycles : 3). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417568 ms (missed cycles : 3).[0m ×2 + 33.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659099 ms (missed cycles : 3). + 33.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659099 ms (missed cycles : 3).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001278 ms (missed cycles : 2). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001278 ms (missed cycles : 2).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149855 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149855 ms (missed cycles : 2).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914678 ms (missed cycles : 3). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914678 ms (missed cycles : 3).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093681 ms (missed cycles : 3). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093681 ms (missed cycles : 3).[0m ×2 + 38.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668717 ms (missed cycles : 3). + 38.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668717 ms (missed cycles : 3).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260647 ms (missed cycles : 4). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260647 ms (missed cycles : 4).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305070 ms (missed cycles : 4). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305070 ms (missed cycles : 4).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790356 ms (missed cycles : 3). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790356 ms (missed cycles : 3).[0m ×2 + 42.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.020ms + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3).[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3).[0m ×2 + 46.35sINFOjoint_trajectory_controllerGoal reached, success! + 46.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789703654.00153065 seconds ×3 + 46.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4).[0m ×2 + 46.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.90sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789703654.58523488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3).[0m ×2 + 48.06sINFOobjective_server_nodeFound path in 0 iterations (3.828e-05 s). ×2 + 48.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2).[0m ×2 + 49.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 49.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2). + 49.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2).[0m ×2 + 50.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.1s | 104 errors · 38 warnings · 504 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.57sINFOobjective_server_nodecaller: ×4 + 0.57sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.62sINFOmove_groupClearing octomap...[0m ×2 + 0.62sINFOmove_groupOctomap cleared.[0m ×2 + 0.63sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.63sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703689.94570470 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703690.52938652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160134 ms (missed cycles : 4). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160134 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703691.42951274 seconds ×3 + 4.67sWARNros2_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 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274607 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274607 ms (missed cycles : 3).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532682 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532682 ms (missed cycles : 3).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243156 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243156 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865825 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865825 ms (missed cycles : 3).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981018 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981018 ms (missed cycles : 3).[0m ×2 + 11.00sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132695 ms (missed cycles : 3). + 11.01sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 11.03sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_video_auth_proxy-37process has died [pid 8926, 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 + 11.03sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 11.04sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_bridge_auth_proxy-36process has died [pid 8921, 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 + 11.05sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 11.05sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 11.06sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 11.07sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 11.08sINFOvideo_server-35process has finished cleanly [pid 8920] ×2 + 11.08sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 11.09sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 11.10sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 11.11sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 11.13sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132695 ms (missed cycles : 3).[0m ×2 + 11.14sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 11.15sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 11.16sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 11.17sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 11.18sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 11.19sINFOcontroller_managerShutdown request received.... + 11.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.19sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.19sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down the controller manager. + 11.20sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 11.21sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 11.22sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.22sERRORmove_group-23process has died [pid 8866, 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_5326yomq --params-file /tmp/launch_params_j3n9g076 --params-file /tmp/launch_params_1av8_azs --params-file /tmp/launch_params_kwmpg1mv --params-file /tmp/launch_params__yjk1ui3 --params-file /tmp/launch_params_j6xwi58v']. ×2 + 11.23sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 11.24sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 11.25sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.26sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.27sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.29sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.29sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.29sINFOmap_serverDeactivating + 11.29sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.29sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 11.30sINFOmap_serverCleaning up + 11.30sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.30sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.30sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.30sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.30sINFOcontroller_serverDeactivating + 11.30sINFOlocal_costmap.local_costmapDeactivating + 11.30sINFOvideo_server2026/09/18 03:54:57 INF shutting down gracefully ×2 + 11.30sINFOvideo_server2026/09/18 03:54:57 INF [WebRTC] closing ×2 + 11.30sINFOvideo_server2026/09/18 03:54:57 INF [RTSP] closing ×2 + 11.30sINFOvideo_server2026/09/18 03:54:57 INF waiting for running hooks ×2 + 11.30sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.30sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.30sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.31sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.31sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.31sERRORmove_groupStack trace (most recent call last) in thread 9523: ×2 + 11.31sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.31sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1030e89a63, in __clone ×2 + 11.31sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1030dfcaa3, in ×2 + 11.31sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f103108edb3, in ×2 + 11.31sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f10317f2b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.31sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1031420620, in rclcpp::Rate::sleep() ×2 + 11.31sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1031362d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.31sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1031324087, in ×2 + 11.31sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f103105d390, in __cxa_throw ×2 + 11.31sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1031047a54, in std::terminate() ×2 + 11.31sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f103105d0d9, in ×2 + 11.31sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.31sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.31sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.31sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.31sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.31sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.31sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.31sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.31sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.31sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.31sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.31sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.31sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.31sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.31sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1031047ff4, in ×2 + 11.31sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1030d888fe, in abort ×2 + 11.31sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1030da527d, in raise ×2 + 11.31sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1030dfeb2c, in pthread_kill ×2 + 11.31sERRORmove_groupAborted (Signal sent by tkill() 8866 0) ×2 + 11.31sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.31sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.31sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.31sINFOodom_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 + 11.31sINFOodom_qos_relay.pymain() ×2 + 11.31sINFOodom_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 + 11.31sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.31sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.31sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.31sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.31sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.31sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.31sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.31sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.31sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.31sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.32sERRORamclThe bond connection to the lifecycle manager has been broken + 11.39sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.40sINFOcontroller_serverCleaning up + 11.40sINFOlocal_costmap.local_costmapCleaning up + 11.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.40sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.40sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.45sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.45sINFOsmoother_serverDeactivating + 11.45sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.46sINFOsmoother_serverCleaning up + 11.47sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.47sINFOplanner_serverDeactivating + 11.47sINFOglobal_costmap.global_costmapDeactivating + 11.56sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.56sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.56sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.56sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.56sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.56sINFOvelocity_smootherDeactivating + 11.56sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.67sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.67sINFOwaypoint_followerDeactivating + 11.67sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.78sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.79sINFObt_navigatorDeactivating + 11.79sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.90sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.90sINFObehavior_serverDeactivating + 11.90sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.01sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.01sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.01sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.01sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.01sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.01sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.01sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.02sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.02sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.02sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.02sINFOvelocity_smootherCleaning up + 12.02sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.02sINFOwaypoint_followerCleaning up + 12.05sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.05sINFObt_navigatorCleaning up + 12.11sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.11sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.12sINFOplanner_serverCleaning up + 12.12sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8919] ×2 + 12.13sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 12.14sINFOglobal_costmap.global_costmapCleaning up + 12.15sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.15sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.18sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.18sINFObehavior_serverCleaning up + 12.19sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.19sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.19sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.19sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.19sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8912] ×2 + 12.20sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8911] ×2 + 12.22sINFOui_teleop_bridge-32process has finished cleanly [pid 8917] ×2 + 12.23sINFObt_navigatorCompleted Cleaning up + 12.23sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.24sINFOexecute_objective_bridge-31process has finished cleanly [pid 8916] ×2 + 12.24sINFOparameter_manager_node-24process has finished cleanly [pid 8867] ×2 + 12.26sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8853] ×2 + 12.26sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8760] ×2 + 12.26sINFOwaypoint_manager_node-25process has finished cleanly [pid 8910] ×2 + 12.27sINFOstatic_transform_publisher-8process has finished cleanly [pid 8759] ×2 + 12.28sINFOstatic_transform_publisher-7process has finished cleanly [pid 8758] ×2 + 12.28sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.29sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.29sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.29sINFOlidar_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 + 12.29sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.29sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.29sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.29sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.29sINFOlidar_flattener.pymain() ×2 + 12.29sINFOlidar_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 + 12.29sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.29sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.29sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.29sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.29sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.29sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.29sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.29sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.29sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.29sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.29sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 12.29sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 12.29sINFOcomponent_container_mt-30process has finished cleanly [pid 8915] ×2 + 12.31sINFOstatic_transform_publisher-4process has finished cleanly [pid 8755] ×2 + 12.31sINFOobjective_server_node[2026-09-18 03:54:59.110] [moveit_pro_license] [info] ×2 + 12.31sINFOobjective_server_node************************************************* ×4 + 12.31sINFOobjective_server_node* MoveIt Pro License ×2 + 12.31sINFOobjective_server_node* Application has successfully terminated ×2 + 12.32sINFOstatic_transform_publisher-3process has finished cleanly [pid 8754] ×2 + 12.36sERRORlidar_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_8prne3yd']. ×2 + 12.36sERRORodom_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 + 12.38sINFOobjective_server_node_main-28process has finished cleanly [pid 8913] ×2 + 12.38sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 12.56sERRORcomponent_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_nupcctt9 --params-file /tmp/launch_params_5_dkca74 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.32sINFOcomponent_container_mt-29process has finished cleanly [pid 8914] ×2 + 13.67sERRORcomponent_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_nupcctt9 --params-file /tmp/launch_params_zmoazdn2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.94sINFOros2_control_node-11process has finished cleanly [pid 8854] ×2 + 14.07sINFOweb_bridge-33process has finished cleanly [pid 8918] ×2 + 14.07sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×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 4.868239 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 0.02sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.03sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.60sINFOobjective_server_nodecaller: ×10 + 0.60sINFOobjective_server_nodetype: 0 ×10 + 0.60sINFOobjective_server_nodename: "" ×10 + 0.60sINFOobjective_server_nodeinstance_id: "" ×10 + 0.60sINFOobjective_server_node ×10 + 0.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 1.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.39sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703667.04582357 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277671 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277671 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543025 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543025 ms (missed cycles : 4).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801389 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801389 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472157 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472157 ms (missed cycles : 3).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738380 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738380 ms (missed cycles : 3).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788509 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788509 ms (missed cycles : 3).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159573 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159573 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197687 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197687 ms (missed cycles : 2).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836507 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836507 ms (missed cycles : 2).[0m ×2 + 14.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.08sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789703677.00579548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802812 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802812 ms (missed cycles : 3).[0m ×2 + 14.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789703677.72597337 seconds ×3 + 15.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.37sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.40sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789703678.33396053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575285 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575285 ms (missed cycles : 2).[0m ×2 + 15.63sWARNros2_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 + 15.82sINFOjoint_trajectory_controllerReceived new action goal + 15.82sINFOjoint_trajectory_controllerAccepted new action goal + 15.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884148 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884148 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 47 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197687 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197687 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836507 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836507 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.57sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.57sINFOobjective_server_nodecaller: ×10 + 1.57sINFOobjective_server_nodetype: 0 ×10 + 1.57sINFOobjective_server_nodename: "" ×10 + 1.57sINFOobjective_server_nodeinstance_id: "" ×10 + 1.57sINFOobjective_server_node ×10 + 1.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789703677.00579548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802812 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802812 ms (missed cycles : 3).[0m ×2 + 2.34sWARNobjective_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 + 2.34sERRORobjective_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 + 2.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789703677.72597337 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.95sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789703678.33396053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575285 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575285 ms (missed cycles : 2).[0m ×2 + 3.18sWARNros2_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 + 3.37sINFOjoint_trajectory_controllerReceived new action goal + 3.37sINFOjoint_trajectory_controllerAccepted new action goal + 3.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884148 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884148 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727399 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727399 ms (missed cycles : 2).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 8.72sINFOjoint_trajectory_controllerGoal reached, success! + 8.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 9.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.32sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 10.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.66sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.71sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 11.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.99sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.03sINFOmove_groupClearing octomap...[0m ×2 + 12.04sINFOmove_groupOctomap cleared.[0m ×2 + 12.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 12 errors · 47 warnings · 244 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789703654.00153065 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.56sINFOobjective_server_nodecaller: ×8 + 3.56sINFOobjective_server_nodetype: 0 ×8 + 3.56sINFOobjective_server_nodename: "" ×8 + 3.56sINFOobjective_server_nodeinstance_id: "" ×8 + 3.57sINFOobjective_server_node ×8 + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789703654.58523488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.828e-05 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 7.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 7.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 8.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 8.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 9.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 9.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 9.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.72sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 9.97sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 10.47sWARNros2_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 + 10.55sWARNobjective_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. ×6 + 10.55sERRORobjective_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 + 10.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 11.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 11.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 11.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 12.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.55sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.1s | 12 errors · 35 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoal reached, success! + 0.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.05sINFOobjective_server_nodecaller: ×8 + 1.05sINFOobjective_server_nodetype: 0 ×8 + 1.05sINFOobjective_server_nodename: "" ×8 + 1.05sINFOobjective_server_nodeinstance_id: "" ×8 + 1.05sINFOobjective_server_node ×8 + 1.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.83sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.77sINFOmove_groupClearing octomap...[0m ×2 + 3.77sINFOmove_groupOctomap cleared.[0m ×2 + 3.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703689.94570470 seconds ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5).[0m ×2 + 6.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.85sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703690.52938652 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160134 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160134 ms (missed cycles : 4).[0m ×2 + 7.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703691.42951274 seconds ×3 + 7.83sWARNros2_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 + 8.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274607 ms (missed cycles : 3). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274607 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 23 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 0.31sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.31sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.85sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.85sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.85sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.85sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.85sINFOobjective_server_nodecaller: ×10 + 0.85sINFOobjective_server_nodetype: 0 ×10 + 0.85sINFOobjective_server_nodename: "" ×10 + 0.85sINFOobjective_server_nodeinstance_id: "" ×10 + 0.85sINFOobjective_server_node ×10 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.89sINFOmove_groupClearing octomap...[0m ×4 + 0.89sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.89sINFOmove_groupOctomap cleared.[0m ×4 + 0.89sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.45sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.85sINFOjoint_trajectory_controllerReceived new action goal + 4.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.85sINFOjoint_trajectory_controllerAccepted new action goal + 4.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250224 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250224 ms (missed cycles : 2).[0m ×2 + 6.67sWARNros2_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 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789703654.00153065 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789703654.58523488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.828e-05 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105090 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530397 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461913 ms (missed cycles : 3).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789703654.00153065 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356908 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.56sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.56sINFOobjective_server_nodecaller: ×2 + 3.56sINFOobjective_server_nodetype: 0 ×2 + 3.56sINFOobjective_server_nodename: "" ×2 + 3.56sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789703654.58523488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901645 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.828e-05 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169086 ms (missed cycles : 2).[0m ×2 + 6.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 341 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 29 warnings · 174 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.938ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349561 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.219ms + 0.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.49sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.49sINFOobjective_server_nodecaller: ×6 + 3.49sINFOobjective_server_nodetype: 0 ×6 + 3.49sINFOobjective_server_nodename: "" ×6 + 3.49sINFOobjective_server_nodeinstance_id: "" ×6 + 3.49sINFOobjective_server_node ×6 + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 3.74sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 4.24sWARNros2_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 + 4.32sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 5.01sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 5.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 6.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.32sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.37sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sINFOjoint_trajectory_controllerGoal reached, success! + 1.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.07sINFOobjective_server_nodecaller: ×8 + 2.07sINFOobjective_server_nodetype: 0 ×8 + 2.07sINFOobjective_server_nodename: "" ×8 + 2.07sINFOobjective_server_nodeinstance_id: "" ×8 + 2.07sINFOobjective_server_node ×8 + 2.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 2.82sWARNros2_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 + 2.90sWARNobjective_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 + 2.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 5.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sINFOjoint_trajectory_controllerGoal reached, success! + 1.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.07sINFOobjective_server_nodecaller: ×8 + 2.07sINFOobjective_server_nodetype: 0 ×8 + 2.07sINFOobjective_server_nodename: "" ×8 + 2.07sINFOobjective_server_nodeinstance_id: "" ×8 + 2.07sINFOobjective_server_node ×8 + 2.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 2.82sWARNros2_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 + 2.90sWARNobjective_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 + 2.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 5.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sINFOjoint_trajectory_controllerGoal reached, success! + 1.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.07sINFOobjective_server_nodecaller: ×8 + 2.07sINFOobjective_server_nodetype: 0 ×8 + 2.07sINFOobjective_server_nodename: "" ×8 + 2.07sINFOobjective_server_nodeinstance_id: "" ×8 + 2.07sINFOobjective_server_node ×8 + 2.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 2.82sWARNros2_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 + 2.90sWARNobjective_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 + 2.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 5.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sINFOjoint_trajectory_controllerGoal reached, success! + 1.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.07sINFOobjective_server_nodecaller: ×8 + 2.07sINFOobjective_server_nodetype: 0 ×8 + 2.07sINFOobjective_server_nodename: "" ×8 + 2.07sINFOobjective_server_nodeinstance_id: "" ×8 + 2.07sINFOobjective_server_node ×8 + 2.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 2.82sWARNros2_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 + 2.90sWARNobjective_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 + 2.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 5.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.452ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210043 ms (missed cycles : 3).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968799 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 1.50sINFOjoint_trajectory_controllerGoal reached, success! + 1.50sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.53sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703660.15536404 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.07sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.07sINFOobjective_server_nodecaller: ×8 + 2.07sINFOobjective_server_nodetype: 0 ×8 + 2.07sINFOobjective_server_nodename: "" ×8 + 2.07sINFOobjective_server_nodeinstance_id: "" ×8 + 2.07sINFOobjective_server_node ×8 + 2.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703660.73814082 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346331 ms (missed cycles : 3).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.295ms + 2.82sWARNros2_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 + 2.90sWARNobjective_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 + 2.91sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.95sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 5.70sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 6.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 35 warnings · 214 info |
+ 0.00sWARNros2_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 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.73sINFOobjective_server_nodecaller: ×8 + 0.73sINFOobjective_server_nodetype: 0 ×8 + 0.73sINFOobjective_server_nodename: "" ×8 + 0.73sINFOobjective_server_nodeinstance_id: "" ×8 + 0.73sINFOobjective_server_node ×8 + 0.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 2.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 4.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703667.04582357 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 35 warnings · 214 info |
+ 0.00sWARNros2_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 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.73sINFOobjective_server_nodecaller: ×8 + 0.73sINFOobjective_server_nodetype: 0 ×8 + 0.73sINFOobjective_server_nodename: "" ×8 + 0.73sINFOobjective_server_nodeinstance_id: "" ×8 + 0.73sINFOobjective_server_node ×8 + 0.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 2.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 4.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703667.04582357 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 35 warnings · 214 info |
+ 0.00sWARNros2_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 + 0.08sWARNobjective_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 + 0.08sERRORobjective_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 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703661.52837491 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741544 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.73sINFOobjective_server_nodecaller: ×8 + 0.73sINFOobjective_server_nodetype: 0 ×8 + 0.73sINFOobjective_server_nodename: "" ×8 + 0.73sINFOobjective_server_nodeinstance_id: "" ×8 + 0.73sINFOobjective_server_node ×8 + 0.77sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703662.21635437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868239 ms (missed cycles : 3).[0m ×2 + 1.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703662.95652556 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703663.57160592 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852574 ms (missed cycles : 2).[0m ×2 + 2.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703664.32180715 seconds ×3 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703664.93869543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960190 ms (missed cycles : 2).[0m ×2 + 4.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703665.68940592 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170924 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703666.31560755 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703667.04582357 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 341 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 341 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 24 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266957 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.125100 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 3.89sERRORobjective_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 + 3.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 5.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.80sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.84sINFOmove_groupClearing octomap...[0m ×2 + 5.84sINFOmove_groupOctomap cleared.[0m ×2 + 5.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 27 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291790 ms (missed cycles : 4).[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoal reached, success! + 0.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703684.15411162 seconds ×3 + 0.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.724113 ms (missed cycles : 3).[0m ×2 + 1.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.05sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.05sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.05sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.05sINFOobjective_server_nodecaller: ×6 + 1.05sINFOobjective_server_nodetype: 0 ×6 + 1.05sINFOobjective_server_nodename: "" ×6 + 1.05sINFOobjective_server_nodeinstance_id: "" ×6 + 1.05sINFOobjective_server_node ×6 + 1.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703684.74152541 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.82sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.83sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703685.47235036 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526735 ms (missed cycles : 3).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.39sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703686.08904529 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703686.80920243 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042395 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703687.41556406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.77sINFOmove_groupClearing octomap...[0m ×2 + 3.77sINFOmove_groupOctomap cleared.[0m ×2 + 3.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771044 ms (missed cycles : 3).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274352 ms (missed cycles : 4).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703689.94570470 seconds ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053216 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 21.2s | 75 errors · 519 warnings · 2532 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-03-51-07-904693-fab2ffd2a32d-7586 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.41sINFOros2_control_node-11process started with pid [7743] + 5.41sINFOmove_group-23process started with pid [7755] + 5.41sINFOparameter_manager_node-24process started with pid [7758] + 5.41sINFOwaypoint_manager_node-25process started with pid [7795] + 5.41sINFOmove_joint_resampler_node-26process started with pid [7796] + 5.41sINFOmove_end_effector_resampler_node-27process started with pid [7797] + 5.41sINFOobjective_server_node_main-28process started with pid [7798] + 5.41sINFOcomponent_container_mt-29process started with pid [7799] + 5.41sINFOcomponent_container_mt-30process started with pid [7800] + 5.41sINFOexecute_objective_bridge-31process started with pid [7801] + 5.41sINFOui_teleop_bridge-32process started with pid [7802] + 5.41sINFOweb_bridge-33process started with pid [7803] + 5.42sINFOtf2_web_republisher_node-34process started with pid [7804] + 5.42sINFOvideo_server-35process started with pid [7809] + 5.42sINFOweb_bridge_auth_proxy-36process started with pid [7812] + 5.42sINFOweb_video_auth_proxy-37process started with pid [7813] + 5.42sINFOcomponent_container_isolated-1process started with pid [7636] + 5.42sINFOcomponent_container_isolated-2process started with pid [7637] + 5.42sINFOstatic_transform_publisher-3process started with pid [7638] + 5.42sINFOstatic_transform_publisher-4process started with pid [7639] + 5.42sINFOodom_qos_relay.py-5process started with pid [7640] + 5.42sINFOlidar_flattener.py-6process started with pid [7641] + 5.42sINFOstatic_transform_publisher-7process started with pid [7642] + 5.42sINFOstatic_transform_publisher-8process started with pid [7643] + 5.42sINFOscan_to_scan_filter_chain-9process started with pid [7644] + 5.42sINFOscan_to_scan_filter_chain-10process started with pid [7742] + 5.42sINFOros2-12process started with pid [7744] + 5.42sINFOros2-13process started with pid [7745] + 5.42sINFOros2-14process started with pid [7746] + 5.42sINFOros2-15process started with pid [7747] + 5.42sINFOros2-16process started with pid [7748] + 5.42sINFOros2-17process started with pid [7749] + 5.42sINFOros2-18process started with pid [7750] + 5.42sINFOros2-19process started with pid [7751] + 5.42sINFOros2-20process started with pid [7752] + 5.42sINFOros2-21process started with pid [7753] + 5.42sINFOros2-22process started with pid [7754] + 5.44sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.44sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.45sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.45sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.45sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.45sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.45sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.45sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.45sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.45sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.45sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.45sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.45sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.46sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.47sWARNros2_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 + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366246 ms (missed cycles : 4).[0m + 5.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.61sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.74sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.78sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.78sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.83sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.92sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.93sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.94sINFOvideo_server2026/09/18 03:51:15 INF MediaMTX v1.20.1, linux, amd64 + 5.95sINFOvideo_server2026/09/18 03:51:15 INF configuration loaded from /tmp/moveit-webrtc-5tfi_kro/mediamtx.yml + 5.95sINFOvideo_server2026/09/18 03:51:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.95sINFOvideo_server2026/09/18 03:51:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 6.08sWARNscan_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 + 6.10sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 6.10sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 6.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 6.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 6.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 6.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.51sINFOmove_groupLoaded robot model in 0.354478 seconds[0m + 6.51sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.51sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813582 ms (missed cycles : 2).[0m + 6.64sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 7.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.37sWARNmove_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 + 7.47sINFOwaypoint_manager_nodeLoaded robot model in 0.417673 seconds[0m + 7.47sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 7.47sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.58sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.58sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.60sINFOros2_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 + 7.60sINFOros2_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 + 7.67sINFOmove_group[2026-09-18 03:51:17.415] [moveit_pro_license] [info] + 7.67sINFOmove_group************************************************* ×6 + 7.67sINFOmove_group* MoveIt Pro License ×3 + 7.67sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.184465 ms (missed cycles : 5).[0m + 8.02sWARNwaypoint_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 + 8.02sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.03sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.04sWARNwaypoint_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 + 8.07sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 8.07sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 8.07sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 8.07sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 8.07sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 8.08sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 8.08sINFOmove_groupStarting planning scene monitor[0m ×3 + 8.08sINFOmove_groupListening to '/planning_scene'[0m ×3 + 8.08sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 8.08sINFOmove_groupListening to 'collision_object'[0m ×3 + 8.09sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 8.31sINFOwaypoint_manager_node[2026-09-18 03:51:18.056] [moveit_pro_license] [info] + 8.31sINFOwaypoint_manager_node************************************************* ×6 + 8.31sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 8.31sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.44sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 8.44sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 8.44sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 8.44sWARNros2_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 + 8.44sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 8.44sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 8.44sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 8.44sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 8.44sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 8.44sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 8.44sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 8.44sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 8.44sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 8.44sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 8.44sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.44sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 8.44sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 8.44sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 8.44sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 8.44sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 8.44sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 8.44sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 8.44sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 8.44sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.51sINFOobjective_server_node[2026-09-18 03:51:18.255] [moveit_pro_license] [info] + 8.51sINFOobjective_server_node************************************************* ×8 + 8.51sINFOobjective_server_node* MoveIt Pro License ×4 + 8.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.60sINFOobjective_server_nodeLoaded robot model in 0.0311651 seconds[0m + 8.60sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.60sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 8.70sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 8.71sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 8.72sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 8.83sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 8.83sINFOros2_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 + 8.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.83sWARNros2_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 + 8.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 8.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.85sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114367 ms (missed cycles : 2).[0m + 9.16sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.16sWARNobjective_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 + 9.17sWARNobjective_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 + 9.24sINFOobjective_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 + 9.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.26sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.26sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.26sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.26sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.26sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.26sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.26sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 9.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 9.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 9.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.39sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 9.40sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 9.40sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 9.40sINFOros2_control_node[2026-09-18 03:51:19.140] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.40sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 9.40sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 9.40sINFOros2_control_node[2026-09-18 03:51:19.143] [info] Controller state will be published at 10 Hz. + 9.40sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 9.40sINFOros2_control_node[2026-09-18 03:51:19.145] [info] VelocityForceController 'on_configure' succeeded. + 9.41sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 9.41sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 9.41sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 9.41sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 9.41sINFOcomponent_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 + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.41sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 9.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 9.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 9.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.60sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.62sINFOcomponent_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 + 9.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 9.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 9.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 9.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 9.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 9.80sINFOros2-19process has finished cleanly [pid 7751] + 9.81sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.81sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.82sWARNcomponent_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 + 9.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 9.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.89sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 9.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.92sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.92sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.96sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.97sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.97sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.97sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.97sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692031 ms (missed cycles : 2).[0m + 10.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 10.08sINFOmove_group ×12 + 10.08sINFOmove_group******************************************************** ×6 + 10.08sINFOmove_group* MoveGroup using: ×3 + 10.08sINFOmove_group* - apply_planning_scene_service ×3 + 10.08sINFOmove_group* - clear_octomap_service ×3 + 10.08sINFOmove_group* - get_group_urdf ×3 + 10.08sINFOmove_group* - load_geometry_from_file ×3 + 10.08sINFOmove_group* - get_planning_scene_service ×3 + 10.08sINFOmove_group* - kinematics_service ×3 + 10.08sINFOmove_group* - save_geometry_to_file ×3 + 10.08sINFOmove_group* - GetPlanningGroups ×3 + 10.08sINFOmove_group* - URDFPlanningSceneCapability ×3 + 10.08sINFOmove_group[0m ×3 + 10.08sINFOmove_group[92mYou can start planning now![0m ×3 + 10.20sINFOcomponent_container_mtLoaded robot model in 0.376564 seconds[0m + 10.20sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 10.20sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 10.45sINFOros2_control_node[2026-09-18 03:51:20.195] [info] Controller state will be published at 20 Hz. + 10.45sINFOros2_control_node[2026-09-18 03:51:20.196] [info] JointVelocityController 'on_configure' succeeded. + 10.66sWARNros2_control_nodeCamera render tick took 0.99 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 + 10.68sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.69sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.74sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.75sWARNcomponent_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 + 10.76sWARNcomponent_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 + 10.76sWARNcomponent_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 + 10.76sWARNcomponent_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 + 10.76sWARNcomponent_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 + 10.76sWARNcomponent_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 + 10.76sWARNcomponent_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 + 10.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.79sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 10.79sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 10.85sINFOros2-21process has finished cleanly [pid 7753] + 10.86sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 10.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 10.87sINFOros2_control_nodeconfigure successful[0m ×9 + 10.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 10.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 10.88sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 10.94sINFOcomponent_container_mt[2026-09-18 03:51:20.683] [moveit_pro_license] [info] + 10.94sINFOcomponent_container_mt************************************************* ×6 + 10.94sINFOcomponent_container_mt* MoveIt Pro License ×3 + 10.94sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772310 ms (missed cycles : 5).[0m + 11.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 11.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 11.19sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 11.22sINFOros2-15process has finished cleanly [pid 7747] + 11.29sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 11.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 11.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 11.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 11.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 11.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 11.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 11.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 11.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m + 11.31sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 11.31sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 11.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 11.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 11.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 11.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 11.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 11.59sWARNobjective_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 + 11.60sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.60sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.60sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 11.64sINFOros2-18process has finished cleanly [pid 7750] + 11.65sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 11.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.65sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 12.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 12.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 12.01sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 12.07sINFOros2-17process has finished cleanly [pid 7749] + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971455 ms (missed cycles : 5).[0m + 12.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 12.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 12.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 12.09sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 12.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 12.44sINFOros2-13process has finished cleanly [pid 7745] + 12.45sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.46sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 13.00sINFOros2_control_node[2026-09-18 03:51:22.738] [info] Controller state will be published at 20 Hz. + 13.00sINFOros2_control_node[2026-09-18 03:51:22.738] [info] JointVelocityController 'on_configure' succeeded. + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898040 ms (missed cycles : 4).[0m + 13.31sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.31sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.31sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 13.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.37sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 13.37sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.38sINFOros2-22process has finished cleanly [pid 7754] + 13.39sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 13.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 13.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 13.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 13.76sINFOros2-16process has finished cleanly [pid 7748] + 13.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.79sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 13.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 13.80sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 14.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 14.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 14.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 14.16sINFOros2-12process has finished cleanly [pid 7744] + 14.19sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 14.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 14.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896658 ms (missed cycles : 2).[0m + 14.22sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 14.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 14.55sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 14.55sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 14.55sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_m_9ivknp --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_n8e_54ve --params-file /tmp/launch_params_s3003qsu [0m + 14.58sINFOros2-14process has finished cleanly [pid 7746] + 14.61sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 14.61sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 15.16sINFOros2_control_node[2026-09-18 03:51:24.901] [warning] No force/torque sensor configured. The VFC will ignore force references. + 15.16sINFOros2_control_node[2026-09-18 03:51:24.904] [info] Controller state will be published at 10 Hz. + 15.17sINFOros2_control_node[2026-09-18 03:51:24.906] [info] VelocityForceController 'on_configure' succeeded. + 15.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 15.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 15.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 15.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 15.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 15.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 15.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×7 + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434977 ms (missed cycles : 2).[0m + 15.52sINFOros2-20process has finished cleanly [pid 7752] + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577438 ms (missed cycles : 3).[0m + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686297 ms (missed cycles : 2).[0m + 17.42sWARNros2_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 + 17.44sWARNros2_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 + 18.48sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519077 ms (missed cycles : 4).[0m + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005729 ms (missed cycles : 4).[0m + 20.36sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 20.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 20.36sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 20.36sINFOobjective_server_nodeparameter_overrides: [] ×27 + 20.36sINFOobjective_server_nodecaller: ×27 + 20.36sINFOobjective_server_nodetype: 0 ×27 + 20.36sINFOobjective_server_nodename: "" ×27 + 20.36sINFOobjective_server_nodeinstance_id: "" ×27 + 20.36sINFOobjective_server_node ×27 + 20.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703490.14319634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.40sINFOmove_groupClearing octomap...[0m ×7 + 20.40sINFOmove_groupOctomap cleared.[0m ×7 + 20.40sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 20.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703490.15353823 seconds + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701789 ms (missed cycles : 3).[0m + 20.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 21.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703490.74938250 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703490.75953364 seconds + 21.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 21.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703491.33643293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945816 ms (missed cycles : 2).[0m + 21.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703491.48737550 seconds + 22.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 22.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703492.09429526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.37sINFOobjective_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 + 22.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m + 22.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 22.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 22.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703492.16443014 seconds + 22.66sWARNros2_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 ×4 + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275431 ms (missed cycles : 3).[0m + 22.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 23.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703492.75326252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 23.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 23.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 23.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 23.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877566 ms (missed cycles : 3).[0m + 24.08sINFOobjective_server_nodePlanning for 177 path waypoints. + 24.41sINFOros2_control_nodeReceived new action goal[0m ×3 + 24.41sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864916 ms (missed cycles : 2).[0m + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977740 ms (missed cycles : 4).[0m + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122901 ms (missed cycles : 3).[0m + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763152 ms (missed cycles : 2).[0m + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491827 ms (missed cycles : 2).[0m + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527150 ms (missed cycles : 2).[0m + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899190 ms (missed cycles : 2).[0m + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531094 ms (missed cycles : 2).[0m + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966235 ms (missed cycles : 2).[0m + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652283 ms (missed cycles : 2).[0m + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518306 ms (missed cycles : 3).[0m + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458500 ms (missed cycles : 3).[0m + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494942 ms (missed cycles : 3).[0m + 38.61sWARNros2_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 ×5 + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170229 ms (missed cycles : 4).[0m + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959686 ms (missed cycles : 2).[0m + 40.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109778 ms (missed cycles : 4).[0m + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536641 ms (missed cycles : 3).[0m + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210575 ms (missed cycles : 3).[0m + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083068 ms (missed cycles : 3).[0m + 45.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134129 ms (missed cycles : 3).[0m + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685774 ms (missed cycles : 3).[0m + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100078 ms (missed cycles : 2).[0m + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523172 ms (missed cycles : 3).[0m + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915314 ms (missed cycles : 3).[0m + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287189 ms (missed cycles : 2).[0m + 51.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958046 ms (missed cycles : 4).[0m + 52.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423413 ms (missed cycles : 3).[0m + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247304 ms (missed cycles : 2).[0m + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228310 ms (missed cycles : 2).[0m + 56.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308656 ms (missed cycles : 3).[0m + 57.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186920 ms (missed cycles : 3).[0m + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352284 ms (missed cycles : 2).[0m + 59.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990029 ms (missed cycles : 2).[0m + 60.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770229 ms (missed cycles : 3).[0m + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984920 ms (missed cycles : 2).[0m + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105111 ms (missed cycles : 2).[0m + 63.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759575 ms (missed cycles : 3).[0m + 64.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786866 ms (missed cycles : 3).[0m + 65.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074257 ms (missed cycles : 3).[0m + 66.08sINFOros2_control_nodeGoal reached, success![0m ×3 + 66.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789703535.86335683 seconds + 66.13sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 66.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 66.15sINFOros2_control_nodeActivated controllers: [ vacuum_gripper joint_trajectory_controller platform_velocity_controller ][0m ×12 + 66.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314717 ms (missed cycles : 2).[0m + 66.66sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 66.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789703536.44206762 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 67.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737642 ms (missed cycles : 2).[0m + 67.86sINFOobjective_server_nodeFound path in 0 iterations (3.5296e-05 s). + 67.94sINFOobjective_server_nodePath shortcutter: [X________________________X] + 67.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 68.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576158 ms (missed cycles : 3).[0m + 69.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799566 ms (missed cycles : 3).[0m + 71.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977310 ms (missed cycles : 2).[0m + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556983 ms (missed cycles : 3).[0m + 72.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789703542.06221843 seconds + 72.87sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 72.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789703542.65133047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697457 ms (missed cycles : 4).[0m + 73.70sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 73.71sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 73.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789703543.45158482 seconds + 74.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391737 ms (missed cycles : 2).[0m + 74.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 74.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789703544.13791633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789703544.86810064 seconds + 75.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249823 ms (missed cycles : 2).[0m + 75.69sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 75.73sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789703545.47168279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.223897 ms (missed cycles : 5).[0m + 76.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789703546.20190096 seconds + 77.03sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 77.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789703546.82182789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928357 ms (missed cycles : 3).[0m + 77.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789703547.55202889 seconds + 78.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954510 ms (missed cycles : 3).[0m + 78.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 78.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789703548.16492963 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 78.49sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m + 79.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789703548.93513966 seconds + 79.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340894 ms (missed cycles : 2).[0m + 80.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517774 ms (missed cycles : 3).[0m + 81.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211706 ms (missed cycles : 5).[0m + 82.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890928 ms (missed cycles : 4).[0m + 83.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317048 ms (missed cycles : 2).[0m + 84.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176796 ms (missed cycles : 3).[0m + 85.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021952 ms (missed cycles : 2).[0m + 86.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601881 ms (missed cycles : 3).[0m + 87.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532687 ms (missed cycles : 3).[0m + 88.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310696 ms (missed cycles : 2).[0m + 89.30sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 89.35sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789703559.08824372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846065 ms (missed cycles : 3).[0m + 90.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789703559.87846684 seconds + 90.70sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 90.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789703560.48194051 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 91.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800527 ms (missed cycles : 2).[0m + 92.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827779 ms (missed cycles : 2).[0m + 93.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798118 ms (missed cycles : 2).[0m + 94.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335383 ms (missed cycles : 2).[0m + 95.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842459 ms (missed cycles : 3).[0m + 96.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033609 ms (missed cycles : 2).[0m + 96.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789703566.27209044 seconds + 97.07sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 97.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789703566.85952091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032316 ms (missed cycles : 4).[0m + 97.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789703567.60970664 seconds + 98.44sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 98.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627836 ms (missed cycles : 3).[0m + 98.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789703568.24289107 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 99.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789703569.02308011 seconds + 99.35sWARNros2_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 + 99.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989485 ms (missed cycles : 3).[0m + 99.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 99.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789703569.63306451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +100.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823754 ms (missed cycles : 5).[0m +101.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464774 ms (missed cycles : 2).[0m +102.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789703572.41319585 seconds +102.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245213 ms (missed cycles : 3).[0m +103.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +103.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789703572.99022532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +103.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.276937 ms (missed cycles : 3).[0m +104.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789703573.90037179 seconds +104.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +104.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333759 ms (missed cycles : 3).[0m +106.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018398 ms (missed cycles : 2).[0m +107.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699529 ms (missed cycles : 2).[0m +108.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041619 ms (missed cycles : 3).[0m +109.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919011 ms (missed cycles : 3).[0m +109.76sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.76sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.76sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.76sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.76sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.76sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.77sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.78sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.78sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +109.78sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.78sERRORweb_video_auth_proxy-37process has died [pid 7813, 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']. +109.78sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.79sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +109.79sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.79sERRORweb_bridge_auth_proxy-36process has died [pid 7812, 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']. +109.80sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.80sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.80sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.80sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.80sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.80sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.81sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.81sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +109.81sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +109.81sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +109.82sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +109.83sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +109.84sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +109.85sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +109.87sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +109.87sINFOvideo_server-35process has finished cleanly [pid 7809] +109.88sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +109.89sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +109.90sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +109.91sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +109.92sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +109.93sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +109.95sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +109.96sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +109.97sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +109.97sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +109.98sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +109.99sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +109.99sERRORmove_group-23process has died [pid 7755, 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_iueyqf_q --params-file /tmp/launch_params_szy6rox6 --params-file /tmp/launch_params_racoqj4x --params-file /tmp/launch_params_hnd1ows4 --params-file /tmp/launch_params_k7an6wev --params-file /tmp/launch_params_rvkeoaxb']. +110.00sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +110.01sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +110.02sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +110.03sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +110.04sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +110.05sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +110.05sINFOvideo_server2026/09/18 03:52:59 INF shutting down gracefully +110.05sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOvideo_server2026/09/18 03:52:59 INF [WebRTC] closing +110.05sINFOvideo_server2026/09/18 03:52:59 INF [RTSP] closing +110.05sINFOvideo_server2026/09/18 03:52:59 INF waiting for running hooks +110.05sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.05sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOcomponent_container_mtStopping planning scene monitor[0m +110.05sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +110.05sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +110.05sERRORmove_groupwhat(): context cannot be slept with because it's invalid +110.05sERRORmove_groupStack trace (most recent call last) in thread 8395: +110.05sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +110.05sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb252e8ea63, in __clone +110.05sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb252e01aa3, in +110.05sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb253093db3, in +110.05sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fb2537f7b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +110.05sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb253425620, in rclcpp::Rate::sleep() +110.05sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb253367d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +110.05sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb253329087, in +110.05sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb253062390, in __cxa_throw +110.05sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb25304ca54, in std::terminate() +110.05sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb2530620d9, in +110.05sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb25304cff4, in +110.05sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb252d8d8fe, in abort +110.05sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb252daa27d, in raise +110.05sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb252e03b2c, in pthread_kill +110.05sERRORmove_groupAborted (Signal sent by tkill() 7755 0) +110.05sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +110.05sINFOros2_control_nodeShutdown request received....[0m +110.05sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +110.05sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +110.05sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +110.05sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +110.05sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +110.05sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +110.05sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +110.05sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +110.06sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +110.06sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +110.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +110.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +110.06sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +110.06sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +110.06sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +110.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +110.06sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +110.06sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +110.06sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +110.06sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +110.06sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +110.06sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +110.06sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +110.06sINFOros2_control_nodeShutting down the controller manager.[0m +110.06sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +110.06sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +110.06sERRORodom_qos_relay.pyTraceback (most recent call last): +110.06sINFOodom_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> +110.06sINFOodom_qos_relay.pymain() +110.06sINFOodom_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 +110.06sINFOodom_qos_relay.pyrclpy.spin(node) +110.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +110.06sINFOodom_qos_relay.pyexecutor.spin_once() +110.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +110.06sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +110.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +110.06sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +110.06sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +110.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +110.06sINFOodom_qos_relay.pyreturn next(self._cb_iter) +110.06sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +110.06sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +110.06sINFOodom_qos_relay.pyraise ExternalShutdownException() +110.06sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +110.17sINFOros2_control_nodeAsync messages lost 0[0m ×2 +110.17sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +110.27sWARNros2_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 +110.88sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7804] +110.88sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +110.95sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7797] +110.96sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7796] +110.97sINFOui_teleop_bridge-32process has finished cleanly [pid 7802] +110.99sINFOexecute_objective_bridge-31process has finished cleanly [pid 7801] +111.00sINFOparameter_manager_node-24process has finished cleanly [pid 7758] +111.01sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7742] +111.02sINFOwaypoint_manager_node-25process has finished cleanly [pid 7795] +111.02sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7644] +111.03sINFOstatic_transform_publisher-8process has finished cleanly [pid 7643] +111.05sINFOcomponent_container_mt-30process has finished cleanly [pid 7800] +111.05sINFOstatic_transform_publisher-7process has finished cleanly [pid 7642] +111.05sERRORlidar_flattener.pyTraceback (most recent call last): +111.05sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +111.05sINFOlidar_flattener.pymain() +111.05sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +111.05sINFOlidar_flattener.pyrclpy.spin(node) +111.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +111.05sINFOlidar_flattener.pyexecutor.spin_once() +111.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +111.05sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +111.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +111.05sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +111.05sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +111.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +111.05sINFOlidar_flattener.pyreturn next(self._cb_iter) +111.05sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +111.05sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +111.05sINFOlidar_flattener.pyraise ExternalShutdownException() +111.05sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +111.07sINFOstatic_transform_publisher-4process has finished cleanly [pid 7639] +111.08sINFOstatic_transform_publisher-3process has finished cleanly [pid 7638] +111.08sINFOobjective_server_node[2026-09-18 03:53:00.820] [moveit_pro_license] [info] +111.08sINFOobjective_server_node* Application has successfully terminated +111.11sERRORlidar_flattener.py-6process has died [pid 7641, 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_zrd3a3zt']. +111.12sERRORodom_qos_relay.py-5process has died [pid 7640, 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']. +111.14sINFOobjective_server_node_main-28process has finished cleanly [pid 7798] +111.14sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +111.17sERRORcomponent_container_isolated-1process has died [pid 7636, 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_9hy_zd1e --params-file /tmp/launch_params_jw17jquq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +111.41sERRORcomponent_container_isolated-2process has died [pid 7637, 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_9hy_zd1e --params-file /tmp/launch_params_6u4dn6p7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +112.08sINFOcomponent_container_mt-29process has finished cleanly [pid 7799] +112.69sINFOros2_control_node-11process has finished cleanly [pid 7743] +112.69sINFOweb_bridge-33process has finished cleanly [pid 7803] +112.69sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +118.80sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-03-53-06-714004-fab2ffd2a32d-8702 ×2 +123.82sINFOstatic_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' +123.83sINFOstatic_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' +123.83sINFOstatic_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' +123.83sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' +123.92sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +123.93sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +123.93sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +123.94sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +124.05sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +124.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +124.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +124.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +124.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +124.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +124.14sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.14sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +124.14sINFOcontroller_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. +124.15sINFOros2_control_node-11process started with pid [8854] ×2 +124.15sINFOmove_group-23process started with pid [8866] ×2 +124.15sINFOparameter_manager_node-24process started with pid [8867] ×2 +124.15sINFOwaypoint_manager_node-25process started with pid [8910] ×2 +124.15sINFOmove_joint_resampler_node-26process started with pid [8911] ×2 +124.15sINFOmove_end_effector_resampler_node-27process started with pid [8912] ×2 +124.15sINFOobjective_server_node_main-28process started with pid [8913] ×2 +124.15sINFOcomponent_container_mt-29process started with pid [8914] ×2 +124.15sINFOcomponent_container_mt-30process started with pid [8915] ×2 +124.15sINFOexecute_objective_bridge-31process started with pid [8916] ×2 +124.15sINFOui_teleop_bridge-32process started with pid [8917] ×2 +124.15sINFOweb_bridge-33process started with pid [8918] ×2 +124.15sINFOtf2_web_republisher_node-34process started with pid [8919] ×2 +124.15sINFOvideo_server-35process started with pid [8920] ×2 +124.15sINFOweb_bridge_auth_proxy-36process started with pid [8921] ×2 +124.15sINFOweb_video_auth_proxy-37process started with pid [8926] ×2 +124.15sINFOcomponent_container_isolated-1process started with pid [8752] ×2 +124.15sINFOcomponent_container_isolated-2process started with pid [8753] ×2 +124.15sINFOstatic_transform_publisher-3process started with pid [8754] ×2 +124.15sINFOstatic_transform_publisher-4process started with pid [8755] ×2 +124.15sINFOodom_qos_relay.py-5process started with pid [8756] ×2 +124.15sINFOlidar_flattener.py-6process started with pid [8757] ×2 +124.15sINFOstatic_transform_publisher-7process started with pid [8758] ×2 +124.15sINFOstatic_transform_publisher-8process started with pid [8759] ×2 +124.15sINFOscan_to_scan_filter_chain-9process started with pid [8760] ×2 +124.15sINFOscan_to_scan_filter_chain-10process started with pid [8853] ×2 +124.15sINFOros2-12process started with pid [8855] ×2 +124.15sINFOros2-13process started with pid [8856] ×2 +124.16sINFOros2-14process started with pid [8857] ×2 +124.16sINFOros2-15process started with pid [8858] ×2 +124.16sINFOros2-16process started with pid [8859] ×2 +124.16sINFOros2-17process started with pid [8860] ×2 +124.16sINFOros2-18process started with pid [8861] ×2 +124.16sINFOros2-19process started with pid [8862] ×2 +124.16sINFOros2-20process started with pid [8863] ×2 +124.16sINFOros2-21process started with pid [8864] ×2 +124.16sINFOros2-22process started with pid [8865] ×2 +124.18sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +124.20sINFOmap_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. +124.20sINFOmap_serverCreating +124.21sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +124.22sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +124.23sINFOcontroller_serverCreating controller server +124.23sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.23sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +124.24sINFOcontroller_managerupdate rate is 600 Hz +124.24sINFOcontroller_managerOverruns handling is : enabled +124.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +124.24sWARNcontroller_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. +124.28sINFOlocal_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. +124.29sINFOlocal_costmap.local_costmapCreating Costmap +124.30sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +124.31sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +124.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +124.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +124.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +124.36sINFOlifecycle_manager_localizationCreating +124.39sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.40sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +124.40sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +124.40sINFOmap_serverConfiguring +124.41sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +124.42sINFOsmoother_serverCreating smoother server +124.43sINFOrobot_state_publisherRobot initialized +124.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +124.44sINFOcontroller_managerReceived robot description from topic. +124.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +124.44sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +124.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884055 ms (missed cycles : 2). +124.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884055 ms (missed cycles : 2).[0m ×2 +124.47sINFOplanner_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. +124.47sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +124.48sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +124.48sINFOplanner_serverCreating +124.53sINFOglobal_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. +124.54sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.54sINFOglobal_costmap.global_costmapCreating Costmap +124.54sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +124.54sINFOamclConfiguring +124.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +124.55sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +124.55sINFOmap_serverActivating +124.55sINFOmap_serverCreating bond (map_server) to lifecycle manager. +124.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +124.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +124.59sINFObehavior_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. +124.59sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +124.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +124.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +124.67sINFOlifecycle_manager_localizationServer map_server connected with bond. +124.67sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +124.67sINFOamclActivating +124.67sINFOamclSubscribed to initial_pose_topic: /initialpose +124.67sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +124.68sINFOamclSubscribed to map_topic: /map +124.69sINFOamclSubscribed to scan_topic: /scan_merged +124.69sINFOvideo_server2026/09/18 03:53:14 INF MediaMTX v1.20.1, linux, amd64 ×2 +124.69sINFOvideo_server2026/09/18 03:53:14 INF configuration loaded from /tmp/moveit-webrtc-tsrung4i/mediamtx.yml ×2 +124.69sINFOamclCreated reinitialize_global_localization service +124.69sINFOvideo_server2026/09/18 03:53:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +124.69sINFOvideo_server2026/09/18 03:53:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +124.69sINFOamclCreated request_nomotion_update service +124.69sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +124.70sINFObt_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. +124.70sINFOamclA new map was received +124.70sINFOamclInitializing particle filter instance +124.70sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +124.72sINFObt_navigatorCreating +124.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +124.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +124.77sINFOwaypoint_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. +124.78sINFOwaypoint_followerCreating +124.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +124.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +124.84sINFOvelocity_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. +124.85sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +124.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +124.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +124.90sINFOlifecycle_manager_navigationCreating +124.95sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +124.97sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +124.97sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +124.97sINFOcontroller_serverConfiguring controller interface +124.97sINFOcontroller_servergetting progress checker plugins.. +124.97sINFOcontroller_servergetting goal checker plugins.. +124.97sINFOcontroller_serverController frequency set to 20.0000Hz +124.97sINFOlocal_costmap.local_costmapConfiguring +124.99sWARNlaser_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. +125.01sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +125.03sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +125.07sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +125.07sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +125.07sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +125.13sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +125.13sINFOcontroller_serverController Server has progress_checker progress checkers available. +125.13sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +125.14sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +125.17sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +125.17sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +125.19sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +125.19sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +125.20sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +125.20sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +125.20sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +125.21sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.306353 seconds +125.21sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +125.21sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +125.21sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +125.21sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +125.21sINFOmove_groupLoaded robot model in 0.306353 seconds[0m ×2 +125.21sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +125.21sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +125.21sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +125.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +125.21sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +125.21sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +125.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +125.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +125.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +125.23sINFOcontroller_serverOptimizer reset ×2 +125.24sINFOcontroller_serverController Server has FollowPath controllers available. +125.27sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +125.27sINFOsmoother_serverConfiguring smoother server +125.28sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +125.29sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +125.30sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +125.30sINFOplanner_serverConfiguring +125.30sINFOglobal_costmap.global_costmapConfiguring +125.31sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +125.35sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +125.35sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +125.35sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +125.39sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +125.44sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +125.44sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +125.45sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +125.51sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +125.51sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +125.52sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +125.52sINFOplanner_serverPlanner Server has GridBased planners available. +125.54sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +125.54sINFObehavior_serverConfiguring +125.56sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +125.56sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +125.56sINFOamclParticle filter initialization completed +125.56sINFOamclInitializing particles from estimated pose and covariance +125.56sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +125.56sINFOamclThe bond connection to the lifecycle manager is now fully formed +125.56sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +125.57sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +125.57sINFOlifecycle_manager_localizationServer amcl connected with bond. +125.57sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +125.57sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +125.57sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +125.58sINFObehavior_serverConfiguring spin +125.59sINFObehavior_serverConfiguring backup +125.60sINFObehavior_serverConfiguring drive_on_heading +125.61sINFObehavior_serverConfiguring assisted_teleop +125.62sINFObehavior_serverConfiguring wait +125.62sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +125.62sINFObt_navigatorConfiguring +125.63sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +125.64sWARNbt_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 +125.69sINFOwaypoint_manager_nodeLoaded robot model in 0.368219 seconds[0m ×2 +125.75sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +125.81sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +125.81sINFOwaypoint_followerConfiguring +125.83sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +125.84sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +125.84sINFOvelocity_smootherConfiguring velocity smoother +125.85sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +125.85sINFOcontroller_serverActivating +125.85sINFOlocal_costmap.local_costmapActivating +125.85sINFOlocal_costmap.local_costmapChecking transform +125.85sINFOlocal_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. ×16 +125.97sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.97sWARNmove_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. +125.97sWARNmove_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. +125.97sWARNmove_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. +125.97sWARNmove_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. +125.97sWARNmove_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. +125.98sWARNmove_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. +125.98sWARNmove_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. +125.98sWARNmove_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. +125.98sWARNmove_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. +125.98sWARNmove_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. +125.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735682 ms (missed cycles : 3). +125.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735682 ms (missed cycles : 3).[0m ×2 +126.21sINFOmove_group[2026-09-18 03:53:15.956] [moveit_pro_license] [info] ×2 +126.23sWARNwaypoint_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. +126.23sWARNwaypoint_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. +126.23sWARNwaypoint_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. +126.23sWARNwaypoint_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. +126.23sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.24sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_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. +126.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.28sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +126.28sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +126.53sINFOwaypoint_manager_node[2026-09-18 03:53:16.270] [moveit_pro_license] [info] ×2 +126.64sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +126.64sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +126.64sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +126.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +126.65sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +126.65sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +126.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +126.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +126.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +126.66sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +126.66sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +127.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +127.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. +127.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +127.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +127.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.20sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +127.21sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +127.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +127.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672250 ms (missed cycles : 2). +127.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +127.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672250 ms (missed cycles : 2).[0m ×2 +127.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +127.22sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +127.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +127.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +127.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +127.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +127.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +127.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +127.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +127.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +127.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +127.24sINFOstreaming_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) +127.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +127.25sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +127.25sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +127.25sINFOforce_torque_sensor_broadcasterconfigure successful +127.26sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +127.26sINFOcontroller_managerSuccessfully switched controllers! ×20 +127.26sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +127.41sINFOobjective_server_node[2026-09-18 03:53:17.149] [moveit_pro_license] [info] ×2 +127.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +127.47sINFOstreaming_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) +127.47sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +127.49sINFOobjective_server_nodeLoaded robot model in 0.0342777 seconds[0m ×2 +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +127.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +127.61sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +127.61sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +127.62sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +127.62sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +127.65sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +127.66sINFOros2-12process has finished cleanly [pid 8855] ×2 +127.69sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +127.69sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +127.70sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +127.70sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +127.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +127.71sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +127.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +127.81sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +127.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' +128.05sINFOros2-13process has finished cleanly [pid 8856] ×2 +128.08sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +128.08sWARNobjective_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. +128.08sWARNobjective_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. +128.08sWARNobjective_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. +128.08sWARNobjective_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. +128.08sWARNobjective_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. +128.08sWARNobjective_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. +128.09sWARNobjective_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. +128.09sWARNobjective_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. +128.09sWARNobjective_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. +128.09sWARNobjective_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. +128.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +128.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +128.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +128.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +128.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.315060 ms (missed cycles : 6). +128.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.315060 ms (missed cycles : 6).[0m ×2 +128.28sINFOcomponent_container_mtLoaded robot model in 0.455704 seconds[0m ×2 +128.31sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +128.53sINFOmove_groupMoveGroup debug mode is ON +128.72sWARNros2_control_nodeCamera render tick took 0.54 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 +128.75sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.75sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +128.76sINFOros2_control_node[2026-09-18 03:53:18.499] [info] Controller state will be published at 20 Hz. ×2 +128.76sINFOros2_control_node[2026-09-18 03:53:18.500] [info] JointVelocityController 'on_configure' succeeded. ×2 +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.86sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_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. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.87sWARNplanning_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. +128.87sWARNplanning_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. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +128.92sINFOmove_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
********************************************************
+129.07sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +129.07sINFOcontroller_managerLoading controller 'velocity_force_controller' +129.11sINFOros2-21process has finished cleanly [pid 8864] ×2 +129.15sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +129.15sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +129.16sINFOcomponent_container_mt[2026-09-18 03:53:18.902] [moveit_pro_license] [info] ×2 +129.20sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +129.20sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +129.30sWARNros2_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 +129.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065894 ms (missed cycles : 4). +129.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.065894 ms (missed cycles : 4).[0m ×2 +129.71sINFOros2_control_node[2026-09-18 03:53:19.454] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.72sINFOros2_control_node[2026-09-18 03:53:19.456] [info] Controller state will be published at 10 Hz. ×2 +129.72sINFOros2_control_node[2026-09-18 03:53:19.458] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.77sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789703597.917 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +130.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +130.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +130.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +130.09sINFOros2-19process has finished cleanly [pid 8862] ×2 +130.10sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +130.10sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +130.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951555 ms (missed cycles : 3). +130.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951555 ms (missed cycles : 3).[0m ×2 +130.62sINFOros2_control_node[2026-09-18 03:53:20.358] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +130.62sINFOros2_control_node[2026-09-18 03:53:20.360] [info] Controller state will be published at 10 Hz. ×2 +130.62sINFOros2_control_node[2026-09-18 03:53:20.362] [info] VelocityForceController 'on_configure' succeeded. ×2 +130.94sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +130.94sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +130.95sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +130.95sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +131.03sINFOros2-20process has finished cleanly [pid 8863] ×2 +131.04sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +131.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +131.04sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +131.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +131.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +131.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +131.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +131.33sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +131.33sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +131.33sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +131.33sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +131.39sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +131.39sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +131.40sINFOros2-18process has finished cleanly [pid 8861] ×2 +131.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805124 ms (missed cycles : 3). +131.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805124 ms (missed cycles : 3).[0m ×2 +131.84sINFOros2_control_node[2026-09-18 03:53:21.581] [info] Controller state will be published at 20 Hz. ×2 +131.84sINFOros2_control_node[2026-09-18 03:53:21.582] [info] JointVelocityController 'on_configure' succeeded. ×2 +132.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +132.15sINFOcontroller_managerLoading controller 'vacuum_gripper' +132.15sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +132.15sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +132.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +132.20sINFOros2-22process has finished cleanly [pid 8865] ×2 +132.20sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +132.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +132.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +132.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +132.22sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +132.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861669 ms (missed cycles : 2). +132.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861669 ms (missed cycles : 2).[0m ×2 +132.55sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +132.55sINFOcontroller_managerLoading controller 'platform_velocity_controller' +132.56sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +132.56sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +132.58sINFOros2-16process has finished cleanly [pid 8859] ×2 +132.61sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +132.61sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +132.62sINFOplatform_velocity_controllerconfigure successful +132.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +132.62sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +132.76sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789703600.995 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +132.92sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +132.92sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +132.92sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +132.92sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +132.95sINFOros2-15process has finished cleanly [pid 8858] ×2 +132.98sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +132.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +132.98sINFOplatform_velocity_controller_nav2configure successful +133.34sINFOros2-17process has finished cleanly [pid 8860] ×2 +133.35sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +133.35sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +133.36sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v +133.36sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vwyrojp7 --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_jcgh95om --params-file /tmp/launch_params_tl_s0g3v [0m ×2 +133.40sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +133.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +133.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +133.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +133.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +133.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044359 ms (missed cycles : 3). +133.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044359 ms (missed cycles : 3).[0m ×2 +133.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +133.61sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +133.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +133.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +133.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +133.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +133.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +133.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 +133.75sINFOros2-14process has finished cleanly [pid 8857] ×2 +133.85sINFOlocal_costmap.local_costmapstart +133.95sWARNcontroller_serverParameter controller_server.verbose not found +133.95sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +134.06sINFOlifecycle_manager_navigationServer controller_server connected with bond. +134.06sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +134.06sINFOsmoother_serverActivating +134.06sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +134.17sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +134.17sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +134.17sINFOplanner_serverActivating +134.17sINFOglobal_costmap.global_costmapActivating +134.17sINFOglobal_costmap.global_costmapChecking transform +134.17sINFOglobal_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. +134.25sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 4.913ms +134.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356620 ms (missed cycles : 3). +134.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356620 ms (missed cycles : 3).[0m ×2 +134.67sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789703604.381941, but only time 1789703604.526998 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +135.17sINFOglobal_costmap.global_costmapstart +135.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081237 ms (missed cycles : 2). +135.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081237 ms (missed cycles : 2).[0m ×2 +136.22sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +136.22sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +136.32sINFOlifecycle_manager_navigationServer planner_server connected with bond. +136.32sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +136.32sINFObehavior_serverActivating +136.32sINFObehavior_serverActivating spin +136.32sINFObehavior_serverActivating backup +136.32sINFObehavior_serverActivating drive_on_heading +136.32sINFObehavior_serverActivating assisted_teleop +136.32sINFObehavior_serverActivating wait +136.32sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +136.43sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +136.43sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +136.43sINFObt_navigatorActivating +136.49sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +136.61sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +136.61sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +136.61sINFOwaypoint_followerActivating +136.61sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +136.71sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +136.71sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +136.71sINFOvelocity_smootherActivating +136.71sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +136.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). +136.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 +136.82sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +136.82sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +136.82sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +137.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). +137.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 +138.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +138.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +138.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +138.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 +139.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). +139.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 +139.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +139.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 +139.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+139.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +140.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 +140.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). +140.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 +140.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+140.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +140.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +140.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 +140.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +140.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 +141.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+141.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). +141.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 +141.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +141.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +141.39sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +141.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.18sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.18sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.18sINFOwaypoint_followerActivating + 0.18sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.28sINFOvelocity_smootherActivating + 0.28sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.39sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.39sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.78sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.78sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.32sINFOobjective_server_nodecaller: ×10 + 2.32sINFOobjective_server_nodetype: 0 ×10 + 2.32sINFOobjective_server_nodename: "" ×10 + 2.32sINFOobjective_server_nodeinstance_id: "" ×10 + 2.32sINFOobjective_server_node ×10 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.36sINFOmove_groupClearing octomap...[0m ×4 + 2.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×4 + 2.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 342 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081237 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081237 ms (missed cycles : 2).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.44sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.44sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.44sINFOwaypoint_followerActivating + 1.44sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.55sINFOvelocity_smootherActivating + 1.55sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 1.65sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.65sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.65sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.98sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.58sINFOobjective_server_nodecaller: ×10 + 3.58sINFOobjective_server_nodetype: 0 ×10 + 3.58sINFOobjective_server_nodename: "" ×10 + 3.58sINFOobjective_server_nodeinstance_id: "" ×10 + 3.58sINFOobjective_server_node ×10 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.62sINFOmove_groupClearing octomap...[0m ×4 + 3.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×4 + 3.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 7.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 18 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 339 info |
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081237 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081237 ms (missed cycles : 2).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.33sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.44sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.44sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.44sINFOwaypoint_followerActivating + 1.44sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.54sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.54sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.55sINFOvelocity_smootherActivating + 1.55sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 1.65sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.65sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.65sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.98sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.58sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.58sINFOobjective_server_nodecaller: ×10 + 3.58sINFOobjective_server_nodetype: 0 ×10 + 3.58sINFOobjective_server_nodename: "" ×10 + 3.58sINFOobjective_server_nodeinstance_id: "" ×10 + 3.58sINFOobjective_server_node ×10 + 3.62sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.62sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.62sINFOmove_groupClearing octomap...[0m ×4 + 3.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.62sINFOmove_groupOctomap cleared.[0m ×4 + 3.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 341 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 341 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 341 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.39sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.39sINFOwaypoint_followerActivating + 0.39sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.49sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.49sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.49sINFOvelocity_smootherActivating + 0.49sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.60sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.60sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.60sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.57sINFOmove_groupClearing octomap...[0m ×4 + 2.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.57sINFOmove_groupOctomap cleared.[0m ×4 + 2.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.23sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 336 info |
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.18sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.18sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.18sINFOwaypoint_followerActivating + 0.18sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.28sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.28sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.28sINFOvelocity_smootherActivating + 0.28sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483396 ms (missed cycles : 3).[0m ×2 + 0.39sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.39sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.39sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.72sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.78sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.78sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.32sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.32sINFOobjective_server_nodecaller: ×10 + 2.32sINFOobjective_server_nodetype: 0 ×10 + 2.32sINFOobjective_server_nodename: "" ×10 + 2.32sINFOobjective_server_nodeinstance_id: "" ×10 + 2.32sINFOobjective_server_node ×10 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.36sINFOmove_groupClearing octomap...[0m ×4 + 2.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×4 + 2.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.25sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 23 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250224 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250224 ms (missed cycles : 2).[0m ×2 + 7.42sWARNros2_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 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 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 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868149 ms (missed cycles : 2).[0m ×2 + 1.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.60sINFOobjective_server_nodecaller: ×10 + 1.60sINFOobjective_server_nodetype: 0 ×10 + 1.60sINFOobjective_server_nodename: "" ×10 + 1.60sINFOobjective_server_nodeinstance_id: "" ×10 + 1.60sINFOobjective_server_node ×10 + 1.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789703608.52907348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.64sINFOmove_groupClearing octomap...[0m ×4 + 1.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.64sINFOmove_groupOctomap cleared.[0m ×4 + 1.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789703608.53932929 seconds ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310536 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789703609.12454104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789703609.13467669 seconds ×3 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789703609.70550656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789703609.85642529 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305847 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789703610.46299553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789703610.52313805 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980812 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789703611.10278893 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521496 ms (missed cycles : 3).[0m ×2 + 5.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.60sINFOjoint_trajectory_controllerReceived new action goal + 5.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681688 ms (missed cycles : 2).[0m ×2 | ||||