MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

6.3s

Avg test time

61%

Objective pass rate

Show INFO/DEBUG

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

7 fail6 pass24 skip

✕ failed	Solution - Move Forward 2m	solution_move_forward_2m.xml	1.4s	12 errors · 32 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 1.56sINFOjoint_trajectory_controllerGoal reached, success! + 1.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.56sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 1.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.11sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.11sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.11sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.11sINFOobjective_server_nodecaller: ×6 + 2.11sINFOobjective_server_nodetype: 0 ×6 + 2.11sINFOobjective_server_nodename: "" ×6 + 2.11sINFOobjective_server_nodeinstance_id: "" ×6 + 2.11sINFOobjective_server_node ×6 + 2.15sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.17sINFOobjective_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 + 2.85sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.85sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.85sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4).[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737101.91222239 seconds ×3 + 7.56sWARNros2_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
✕ failed	Move to Arm Upright	move_to_arm_upright.xml	1.3s	24 errors · 36 warnings · 276 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 1.48sINFOjoint_trajectory_controllerGoal reached, success! + 1.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.05sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.05sINFOobjective_server_nodecaller: ×10 + 2.05sINFOobjective_server_nodetype: 0 ×10 + 2.05sINFOobjective_server_nodename: "" ×10 + 2.05sINFOobjective_server_nodeinstance_id: "" ×10 + 2.05sINFOobjective_server_node ×10 + 2.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 2.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×12 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 5.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 6.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 7.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.44sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2
✕ failed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	1.3s	6 errors · 27 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116815 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116815 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902535 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902535 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960846 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960846 ms (missed cycles : 2).[0m ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737088.84139729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242248 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242248 ms (missed cycles : 2).[0m ×2 + 3.76sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 3.76sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737089.59179306 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835838 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835838 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.33sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737090.20419955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOjoint_trajectory_controllerReceived new action goal + 4.78sINFOjoint_trajectory_controllerAccepted new action goal + 4.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512354 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512354 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341885 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341885 ms (missed cycles : 3).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2
✕ failed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	1.3s	18 errors · 33 warnings · 226 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 1.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.38sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.38sINFOobjective_server_nodecaller: ×8 + 3.38sINFOobjective_server_nodetype: 0 ×8 + 3.38sINFOobjective_server_nodename: "" ×8 + 3.38sINFOobjective_server_nodeinstance_id: "" ×8 + 3.38sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.45sINFOobjective_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 2.768870 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 4.15sWARNobjective_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 + 4.16sERRORobjective_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 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 6.91sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 7.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2
✕ failed	Move to Look at Plane	move_to_look_at_plane.xml	1.3s	30 errors · 39 warnings · 275 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 0.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 0.26sINFOjoint_trajectory_controllerGoal reached, success! + 0.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.29sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.82sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.82sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.82sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.82sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.82sINFOobjective_server_nodecaller: ×10 + 0.82sINFOobjective_server_nodetype: 0 ×10 + 0.82sINFOobjective_server_nodename: "" ×10 + 0.82sINFOobjective_server_nodeinstance_id: "" ×10 + 0.82sINFOobjective_server_node ×10 + 0.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 1.13sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 1.59sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 1.60sERRORobjective_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 + 1.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.24sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.29sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 4.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 5.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 6.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.26sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2 + 6.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737078.93624377 seconds ×3 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 7.42sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	1.3s	30 errors · 36 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737078.93624377 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443944 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443944 ms (missed cycles : 2).[0m ×2
✕ failed	Solution - Generate coverage path	solution_generate_coverage_path.xml	1.3s	12 errors · 30 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 396 info
+ 0.00sWARNros2_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 ×2 + 0.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.74sINFOobjective_server_nodecaller: ×12 + 0.74sINFOobjective_server_nodetype: 0 ×12 + 0.74sINFOobjective_server_nodename: "" ×12 + 0.74sINFOobjective_server_nodeinstance_id: "" ×12 + 0.74sINFOobjective_server_node ×12 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.78sINFOmove_groupClearing octomap...[0m ×4 + 0.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.78sINFOmove_groupOctomap cleared.[0m ×4 + 0.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_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 + 2.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153782 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153782 ms (missed cycles : 2).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399652 ms (missed cycles : 4). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.399652 ms (missed cycles : 4).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250170 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250170 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281364 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281364 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062350 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062350 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560421 ms (missed cycles : 4). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560421 ms (missed cycles : 4).[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068573 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068573 ms (missed cycles : 2).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.857ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071403 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071403 ms (missed cycles : 2).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183511 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183511 ms (missed cycles : 3).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372717 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372717 ms (missed cycles : 3).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397867 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397867 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401433 ms (missed cycles : 3). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401433 ms (missed cycles : 3).[0m ×2 + 19.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730976 ms (missed cycles : 3). + 19.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730976 ms (missed cycles : 3).[0m ×2 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.552979 ms (missed cycles : 4). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.552979 ms (missed cycles : 4).[0m ×2 + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819279 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819279 ms (missed cycles : 2).[0m ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761391 ms (missed cycles : 4). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761391 ms (missed cycles : 4).[0m ×2 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794539 ms (missed cycles : 2). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794539 ms (missed cycles : 2).[0m ×2 + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323958 ms (missed cycles : 3). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323958 ms (missed cycles : 3).[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029669 ms (missed cycles : 2). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029669 ms (missed cycles : 2).[0m ×2 + 26.37sWARNros2_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 + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111457 ms (missed cycles : 3). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111457 ms (missed cycles : 3).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775088 ms (missed cycles : 2). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775088 ms (missed cycles : 2).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733822 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733822 ms (missed cycles : 2).[0m ×2 + 30.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 30.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990428 ms (missed cycles : 2). + 30.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990428 ms (missed cycles : 2).[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512463 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512463 ms (missed cycles : 2).[0m ×2 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142385 ms (missed cycles : 2). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142385 ms (missed cycles : 2).[0m ×2 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427275 ms (missed cycles : 3). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427275 ms (missed cycles : 3).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518109 ms (missed cycles : 2). + 35.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518109 ms (missed cycles : 2).[0m ×2 + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811757 ms (missed cycles : 2). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811757 ms (missed cycles : 2).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653826 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653826 ms (missed cycles : 2).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081079 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081079 ms (missed cycles : 2).[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509200 ms (missed cycles : 2). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509200 ms (missed cycles : 2).[0m ×2 + 40.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770451 ms (missed cycles : 3). + 40.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770451 ms (missed cycles : 3).[0m ×2 + 41.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894504 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894504 ms (missed cycles : 2).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328263 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328263 ms (missed cycles : 2).[0m ×2 + 42.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4).[0m ×2 + 45.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3).[0m ×2 + 46.29sINFOjoint_trajectory_controllerGoal reached, success! + 46.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737066.10930777 seconds ×3 + 46.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2).[0m ×2 + 46.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 46.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737066.69115162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3).[0m ×2 + 48.01sINFOobjective_server_nodeFound path in 0 iterations (2.198e-05 s). ×2 + 48.08sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2).[0m ×2 + 49.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m ×2 + 50.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	10.9s	104 errors · 32 warnings · 504 info
+ 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.56sINFOobjective_server_nodecaller: ×4 + 0.56sINFOobjective_server_nodetype: 0 ×4 + 0.56sINFOobjective_server_nodename: "" ×4 + 0.56sINFOobjective_server_nodeinstance_id: "" ×4 + 0.56sINFOobjective_server_node ×4 + 0.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.60sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.60sINFOmove_groupClearing octomap...[0m ×2 + 0.60sINFOmove_groupOctomap cleared.[0m ×2 + 0.62sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.62sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737101.91222239 seconds ×3 + 3.33sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737102.48410010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180455 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180455 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737103.30422497 seconds ×3 + 4.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866505 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866505 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180123 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180123 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704724 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704724 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208971 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208971 ms (missed cycles : 4).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604043 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604043 ms (missed cycles : 3).[0m ×2 + 10.24sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.26sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORweb_video_auth_proxy-37process has died [pid 8913, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.26sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.27sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORweb_bridge_auth_proxy-36process has died [pid 8912, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.27sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.28sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.30sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.31sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.32sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.33sINFOvideo_server-35process has finished cleanly [pid 8911] ×2 + 10.33sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.34sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.35sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.35sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.36sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.37sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.38sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.39sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.40sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.41sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.42sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.42sINFOcontroller_managerShutdown request received.... + 10.42sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.42sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.42sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.42sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.42sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.42sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.42sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.42sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.42sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.42sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.42sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.43sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.43sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.43sINFOcontroller_managerShutting down the controller manager. + 10.44sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.45sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.46sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.47sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.47sERRORmove_group-23process has died [pid 8847, 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_pwqptzjv --params-file /tmp/launch_params_ausn_3d5 --params-file /tmp/launch_params_2_5mm5i_ --params-file /tmp/launch_params_ivqqiw57 --params-file /tmp/launch_params_lapoumu4 --params-file /tmp/launch_params_khfhyd51']. ×2 + 10.48sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.48sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.50sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.51sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.52sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.52sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.52sINFOmap_serverDeactivating + 10.52sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.53sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.53sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.53sINFOcontroller_serverDeactivating + 10.53sINFOlocal_costmap.local_costmapDeactivating + 10.53sINFOvideo_server2026/09/18 13:11:48 INF shutting down gracefully ×2 + 10.53sINFOvideo_server2026/09/18 13:11:48 INF [WebRTC] closing ×2 + 10.53sINFOvideo_server2026/09/18 13:11:48 INF [RTSP] closing ×2 + 10.53sINFOvideo_server2026/09/18 13:11:48 INF waiting for running hooks ×2 + 10.53sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.53sINFOmap_serverCleaning up + 10.53sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.53sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.53sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.53sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.53sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.53sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.53sERRORmove_groupStack trace (most recent call last) in thread 9496: ×2 + 10.53sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.53sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.53sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.53sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.53sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c52e22a63, in __clone ×2 + 10.53sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c52d95aa3, in ×2 + 10.53sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c53027db3, in ×2 + 10.53sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f7c5378bb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.53sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7c533b9620, in rclcpp::Rate::sleep() ×2 + 10.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7c532fbd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.53sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7c532bd087, in ×2 + 10.53sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c52ff6390, in __cxa_throw ×2 + 10.53sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c52fe0a54, in std::terminate() ×2 + 10.53sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c52ff60d9, in ×2 + 10.53sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c52fe0ff4, in ×2 + 10.53sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c52d218fe, in abort ×2 + 10.53sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c52d3e27d, in raise ×2 + 10.53sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c52d97b2c, in pthread_kill ×2 + 10.53sERRORmove_groupAborted (Signal sent by tkill() 8847 0) ×2 + 10.54sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.54sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.54sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.54sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.54sINFOodom_qos_relay.pymain() ×2 + 10.54sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.54sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.54sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.54sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.54sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.54sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.54sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.54sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.54sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.54sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.54sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.55sERRORamclThe bond connection to the lifecycle manager has been broken + 10.59sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.60sINFOcontroller_serverCleaning up + 10.60sINFOlocal_costmap.local_costmapCleaning up + 10.64sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.64sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.65sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.65sINFOsmoother_serverDeactivating + 10.65sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.66sINFOsmoother_serverCleaning up + 10.67sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.67sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.67sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.67sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.67sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.67sINFOvelocity_smootherDeactivating + 10.67sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.67sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.67sINFOplanner_serverDeactivating + 10.67sINFOglobal_costmap.global_costmapDeactivating + 10.83sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.83sINFOwaypoint_followerDeactivating + 10.83sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.95sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.95sINFObt_navigatorDeactivating + 10.95sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.06sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.06sINFObehavior_serverDeactivating + 11.06sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.17sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.17sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.17sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.17sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.17sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.17sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.17sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.18sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.18sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.18sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.18sINFOvelocity_smootherCleaning up + 11.18sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.18sINFOwaypoint_followerCleaning up + 11.21sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.21sINFObt_navigatorCleaning up + 11.36sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8910] ×2 + 11.36sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.39sINFObt_navigatorCompleted Cleaning up + 11.39sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.39sINFObehavior_serverCleaning up + 11.41sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.41sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.42sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8870] ×2 + 11.42sINFOplanner_serverCleaning up + 11.44sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8869] ×2 + 11.44sINFOglobal_costmap.global_costmapCleaning up + 11.44sINFOui_teleop_bridge-32process has finished cleanly [pid 8891] ×2 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.45sINFOexecute_objective_bridge-31process has finished cleanly [pid 8889] ×2 + 11.45sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.45sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.45sERRORplanner_serverUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.45sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.45sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.48sINFOparameter_manager_node-24process has finished cleanly [pid 8848] ×2 + 11.49sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.49sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.49sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.49sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.49sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.49sINFOwaypoint_manager_node-25process has finished cleanly [pid 8868] ×2 + 11.50sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8829] ×2 + 11.50sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8736] ×2 + 11.51sINFOstatic_transform_publisher-8process has finished cleanly [pid 8735] ×2 + 11.51sINFOstatic_transform_publisher-7process has finished cleanly [pid 8734] ×2 + 11.52sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.52sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.52sINFOlidar_flattener.pymain() ×2 + 11.52sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.52sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.52sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.52sINFOcomponent_container_mt-30process has finished cleanly [pid 8888] ×2 + 11.52sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.52sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.52sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.52sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.52sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.52sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.52sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.52sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.52sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.52sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.52sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.54sINFOobjective_server_node[2026-09-18 13:11:50.165] [moveit_pro_license] [info] ×2 + 11.54sINFOobjective_server_node************************************************* ×4 + 11.54sINFOobjective_server_node* MoveIt Pro License ×2 + 11.54sINFOobjective_server_node* Application has successfully terminated ×2 + 11.55sINFOstatic_transform_publisher-4process has finished cleanly [pid 8731] ×2 + 11.55sINFOstatic_transform_publisher-3process has finished cleanly [pid 8730] ×2 + 11.57sERRORlidar_flattener.py-6process has died [pid 8733, 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_3y40q8vj']. ×2 + 11.58sERRORodom_qos_relay.py-5process has died [pid 8732, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.60sINFOobjective_server_node_main-28process has finished cleanly [pid 8886] ×2 + 11.60sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.81sERRORcomponent_container_isolated-1process has died [pid 8728, 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_kkedrndm --params-file /tmp/launch_params_d6teg9y5 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.95sERRORcomponent_container_isolated-2process has died [pid 8729, 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_kkedrndm --params-file /tmp/launch_params_ev9pqnr7 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.54sINFOcomponent_container_mt-29process has finished cleanly [pid 8887] ×2 + 13.16sINFOros2_control_node-11process has finished cleanly [pid 8830] ×2 + 13.17sINFOweb_bridge-33process has finished cleanly [pid 8892] ×2 + 13.17sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.6s	30 errors · 65 warnings · 273 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.58sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.58sINFOobjective_server_nodecaller: ×10 + 0.58sINFOobjective_server_nodetype: 0 ×10 + 0.58sINFOobjective_server_nodename: "" ×10 + 0.58sINFOobjective_server_nodeinstance_id: "" ×10 + 0.58sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 1.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.90sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 1.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2 + 3.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737078.93624377 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 4.41sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443944 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443944 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920979 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920979 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484372 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484372 ms (missed cycles : 4).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494092 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494092 ms (missed cycles : 2).[0m ×2 + 9.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236738 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236738 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116815 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116815 ms (missed cycles : 4).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902535 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902535 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960846 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960846 ms (missed cycles : 2).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.82sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.86sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737088.84139729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242248 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242248 ms (missed cycles : 2).[0m ×2 + 14.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737089.59179306 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835838 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835838 ms (missed cycles : 4).[0m ×2 + 15.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.18sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.22sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737090.20419955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOjoint_trajectory_controllerReceived new action goal + 15.62sINFOjoint_trajectory_controllerAccepted new action goal + 15.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512354 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512354 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.3s	18 errors · 48 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902535 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960846 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960846 ms (missed cycles : 2).[0m ×2 + 1.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.84sINFOobjective_server_nodecaller: ×10 + 1.84sINFOobjective_server_nodetype: 0 ×10 + 1.84sINFOobjective_server_nodename: "" ×10 + 1.84sINFOobjective_server_nodeinstance_id: "" ×10 + 1.84sINFOobjective_server_node ×10 + 1.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737088.84139729 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242248 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242248 ms (missed cycles : 2).[0m ×2 + 2.63sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.64sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737089.59179306 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835838 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835838 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.25sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737090.20419955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOjoint_trajectory_controllerReceived new action goal + 3.65sINFOjoint_trajectory_controllerAccepted new action goal + 3.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512354 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512354 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341885 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341885 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 9.00sINFOjoint_trajectory_controllerGoal reached, success! + 9.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 9.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.28sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 10.85sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.85sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 12.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.23sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.27sINFOmove_groupClearing octomap...[0m ×2 + 12.27sINFOmove_groupOctomap cleared.[0m ×2 + 12.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	12 errors · 47 warnings · 245 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737066.10930777 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.18sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.18sINFOobjective_server_nodecaller: ×8 + 3.18sINFOobjective_server_nodetype: 0 ×8 + 3.18sINFOobjective_server_nodename: "" ×8 + 3.18sINFOobjective_server_nodeinstance_id: "" ×8 + 3.18sINFOobjective_server_node ×8 + 3.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737066.69115162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.198e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 6.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 7.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 8.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 9.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.31sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.36sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 10.08sWARNobjective_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. ×6 + 10.09sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 10.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 10.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.78sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 12.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.08sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.12sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	3.3s	12 errors · 38 warnings · 221 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 0.53sINFOjoint_trajectory_controllerGoal reached, success! + 0.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.08sINFOobjective_server_nodecaller: ×8 + 1.08sINFOobjective_server_nodetype: 0 ×8 + 1.08sINFOobjective_server_nodename: "" ×8 + 1.08sINFOobjective_server_nodeinstance_id: "" ×8 + 1.08sINFOobjective_server_node ×8 + 1.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[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: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.80sINFOmove_groupClearing octomap...[0m ×2 + 3.80sINFOmove_groupOctomap cleared.[0m ×2 + 3.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737101.91222239 seconds ×3 + 6.53sWARNros2_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 + 7.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737102.48410010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180455 ms (missed cycles : 4). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180455 ms (missed cycles : 4).[0m ×2 + 7.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737103.30422497 seconds ×3 + 8.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866505 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866505 ms (missed cycles : 3).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180123 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180123 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	20 warnings · 319 info
+ 0.00sWARNros2_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 ×2 + 0.21sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 0.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.74sINFOobjective_server_nodecaller: ×10 + 0.74sINFOobjective_server_nodetype: 0 ×10 + 0.74sINFOobjective_server_nodename: "" ×10 + 0.74sINFOobjective_server_nodeinstance_id: "" ×10 + 0.74sINFOobjective_server_node ×10 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.78sINFOmove_groupClearing octomap...[0m ×4 + 0.78sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.78sINFOmove_groupOctomap cleared.[0m ×4 + 0.78sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_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 + 2.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal + 4.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal + 4.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737066.10930777 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737066.69115162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.198e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	23 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044987 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.869695 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513068 ms (missed cycles : 3).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.63sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737066.10930777 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451794 ms (missed cycles : 2).[0m ×2 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.805ms + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.18sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.18sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.18sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.18sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.18sINFOobjective_server_nodecaller: ×2 + 3.18sINFOobjective_server_nodetype: 0 ×2 + 3.18sINFOobjective_server_nodename: "" ×2 + 3.18sINFOobjective_server_nodeinstance_id: "" ×2 + 3.18sINFOobjective_server_node ×2 + 3.21sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737066.69115162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.104ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727607 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.198e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109079 ms (missed cycles : 2).[0m ×2 + 5.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 5.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m ×2 + 6.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms
− skipped	Close Gripper	close_gripper.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	12 errors · 27 warnings · 173 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.233ms + 0.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 1.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 2.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.38sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.38sINFOobjective_server_nodecaller: ×6 + 3.38sINFOobjective_server_nodetype: 0 ×6 + 3.38sINFOobjective_server_nodename: "" ×6 + 3.38sINFOobjective_server_nodeinstance_id: "" ×6 + 3.38sINFOobjective_server_node ×6 + 3.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.45sINFOobjective_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 2.768870 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 4.15sWARNobjective_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 + 4.16sERRORobjective_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 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.84sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 errors · 30 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 1.48sINFOjoint_trajectory_controllerGoal reached, success! + 1.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.05sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.05sINFOobjective_server_nodecaller: ×8 + 2.05sINFOobjective_server_nodetype: 0 ×8 + 2.05sINFOobjective_server_nodename: "" ×8 + 2.05sINFOobjective_server_nodeinstance_id: "" ×8 + 2.05sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 2.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 5.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 errors · 30 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 1.48sINFOjoint_trajectory_controllerGoal reached, success! + 1.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.05sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.05sINFOobjective_server_nodecaller: ×8 + 2.05sINFOobjective_server_nodetype: 0 ×8 + 2.05sINFOobjective_server_nodename: "" ×8 + 2.05sINFOobjective_server_nodeinstance_id: "" ×8 + 2.05sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 2.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 5.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 errors · 30 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 1.48sINFOjoint_trajectory_controllerGoal reached, success! + 1.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.05sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.05sINFOobjective_server_nodecaller: ×8 + 2.05sINFOobjective_server_nodetype: 0 ×8 + 2.05sINFOobjective_server_nodename: "" ×8 + 2.05sINFOobjective_server_nodeinstance_id: "" ×8 + 2.05sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 2.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 5.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	18 errors · 30 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 1.48sINFOjoint_trajectory_controllerGoal reached, success! + 1.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.05sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.05sINFOobjective_server_nodecaller: ×8 + 2.05sINFOobjective_server_nodetype: 0 ×8 + 2.05sINFOobjective_server_nodename: "" ×8 + 2.05sINFOobjective_server_nodeinstance_id: "" ×8 + 2.05sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 2.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 5.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 errors · 30 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371120 ms (missed cycles : 3).[0m ×2 + 0.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.604ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800379 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.863ms + 1.48sINFOjoint_trajectory_controllerGoal reached, success! + 1.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737072.25128746 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.05sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.05sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.05sINFOobjective_server_nodecaller: ×8 + 2.05sINFOobjective_server_nodetype: 0 ×8 + 2.05sINFOobjective_server_nodename: "" ×8 + 2.05sINFOobjective_server_nodeinstance_id: "" ×8 + 2.05sINFOobjective_server_node ×8 + 2.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737072.83363152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768870 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.262ms + 2.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.82sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 5.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 6.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.14sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 errors · 33 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737078.93624377 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 errors · 33 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737078.93624377 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 errors · 33 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737073.56383729 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776837 ms (missed cycles : 3).[0m ×2 + 0.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.65sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.65sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.65sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.65sINFOobjective_server_nodecaller: ×8 + 0.65sINFOobjective_server_nodetype: 0 ×8 + 0.65sINFOobjective_server_nodename: "" ×8 + 0.65sINFOobjective_server_nodeinstance_id: "" ×8 + 0.65sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737074.25323582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.44sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737074.99338937 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185071 ms (missed cycles : 2).[0m ×2 + 2.00sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.00sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.04sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737075.59738255 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505371 ms (missed cycles : 4).[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737076.31754303 seconds ×3 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737076.92270517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.487683 ms (missed cycles : 3).[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737077.62285113 seconds ×3 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737078.22608519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215931 ms (missed cycles : 2).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737078.93624377 seconds ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649345 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938234 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 2.59sINFOjoint_trajectory_controllerGoal reached, success! + 2.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.14sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.14sINFOobjective_server_nodecaller: ×6 + 3.14sINFOobjective_server_nodetype: 0 ×6 + 3.14sINFOobjective_server_nodename: "" ×6 + 3.14sINFOobjective_server_nodeinstance_id: "" ×6 + 3.14sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sWARNobjective_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 + 3.88sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 3.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.45sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.82sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 5.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 5.86sINFOmove_groupClearing octomap...[0m ×2 + 5.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.88sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 5.88sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	12 errors · 29 warnings · 196 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646868 ms (missed cycles : 3).[0m ×2 + 0.53sINFOjoint_trajectory_controllerGoal reached, success! + 0.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.53sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737095.95432115 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268766 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.08sINFOobjective_server_nodecaller: ×6 + 1.08sINFOobjective_server_nodetype: 0 ×6 + 1.08sINFOobjective_server_nodename: "" ×6 + 1.08sINFOobjective_server_nodeinstance_id: "" ×6 + 1.08sINFOobjective_server_node ×6 + 1.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737096.53816462 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 1.82sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 1.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737097.23832488 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995856 ms (missed cycles : 2).[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: 1789737097.86171627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737098.62189364 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584538 ms (missed cycles : 3).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737099.22140479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.80sINFOmove_groupClearing octomap...[0m ×2 + 3.80sINFOmove_groupOctomap cleared.[0m ×2 + 3.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633133 ms (missed cycles : 3).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437670 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075782 ms (missed cycles : 4).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737101.91222239 seconds ×3 + 6.53sWARNros2_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
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.2s	77 errors · 517 warnings · 2527 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-13-08-02-700886-5beb5e9d067b-7562 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.13sINFOros2_control_node-11process started with pid [7714] + 5.13sINFOmove_group-23process started with pid [7726] + 5.13sINFOparameter_manager_node-24process started with pid [7729] + 5.13sINFOwaypoint_manager_node-25process started with pid [7767] + 5.13sINFOmove_joint_resampler_node-26process started with pid [7768] + 5.13sINFOmove_end_effector_resampler_node-27process started with pid [7769] + 5.13sINFOobjective_server_node_main-28process started with pid [7770] + 5.13sINFOcomponent_container_mt-29process started with pid [7771] + 5.13sINFOcomponent_container_mt-30process started with pid [7772] + 5.13sINFOexecute_objective_bridge-31process started with pid [7773] + 5.13sINFOui_teleop_bridge-32process started with pid [7774] + 5.13sINFOweb_bridge-33process started with pid [7775] + 5.13sINFOtf2_web_republisher_node-34process started with pid [7776] + 5.13sINFOvideo_server-35process started with pid [7777] + 5.13sINFOweb_bridge_auth_proxy-36process started with pid [7778] + 5.13sINFOweb_video_auth_proxy-37process started with pid [7779] + 5.13sINFOcomponent_container_isolated-1process started with pid [7612] + 5.13sINFOcomponent_container_isolated-2process started with pid [7613] + 5.14sINFOstatic_transform_publisher-3process started with pid [7614] + 5.14sINFOstatic_transform_publisher-4process started with pid [7615] + 5.14sINFOodom_qos_relay.py-5process started with pid [7616] + 5.14sINFOlidar_flattener.py-6process started with pid [7617] + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.17sINFOstatic_transform_publisher-7process started with pid [7618] + 5.17sINFOstatic_transform_publisher-8process started with pid [7619] + 5.17sINFOscan_to_scan_filter_chain-9process started with pid [7620] + 5.17sINFOscan_to_scan_filter_chain-10process started with pid [7713] + 5.17sINFOros2-12process started with pid [7715] + 5.17sINFOros2-13process started with pid [7716] + 5.17sINFOros2-14process started with pid [7717] + 5.17sINFOros2-15process started with pid [7718] + 5.17sINFOros2-16process started with pid [7719] + 5.17sINFOros2-17process started with pid [7720] + 5.17sINFOros2-18process started with pid [7721] + 5.17sINFOros2-19process started with pid [7722] + 5.17sINFOros2-20process started with pid [7723] + 5.17sINFOros2-21process started with pid [7724] + 5.17sINFOros2-22process started with pid [7725] + 5.22sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.22sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.22sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.22sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.22sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.22sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.22sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.22sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.22sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.22sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.22sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.23sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.23sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.23sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.23sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.23sWARNros2_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 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697786 ms (missed cycles : 2).[0m + 5.32sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.32sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.34sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.34sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.46sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.46sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.46sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.52sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.52sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.66sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.67sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.84sINFOvideo_server2026/09/18 13:08:10 INF MediaMTX v1.20.1, linux, amd64 + 5.84sINFOvideo_server2026/09/18 13:08:10 INF configuration loaded from /tmp/moveit-webrtc-xoyrsrb6/mediamtx.yml + 5.84sINFOvideo_server2026/09/18 13:08:10 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.84sINFOvideo_server2026/09/18 13:08:10 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.87sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×6 + 5.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 6.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.05sINFOmove_groupLoaded robot model in 0.34645 seconds[0m + 6.05sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 6.06sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.29sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861398 ms (missed cycles : 3).[0m + 6.58sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.59sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 6.91sINFOwaypoint_manager_nodeLoaded robot model in 0.431382 seconds[0m + 6.92sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.92sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.96sINFOmove_group[2026-09-18 13:08:11.342] [moveit_pro_license] [info] + 6.96sINFOmove_group************************************************* ×6 + 6.96sINFOmove_group* MoveIt Pro License ×3 + 6.96sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.12sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.12sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.15sINFOros2_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 + 7.15sINFOros2_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 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.30sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 7.38sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.38sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.39sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.39sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.39sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.39sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.40sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.40sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.40sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.40sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.40sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.72sINFOwaypoint_manager_node[2026-09-18 13:08:12.097] [moveit_pro_license] [info] + 7.72sINFOwaypoint_manager_node************************************************* ×6 + 7.72sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.72sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.98sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.98sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.98sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.98sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 7.98sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.98sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.98sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.98sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.98sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.98sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.98sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.98sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.98sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.98sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.98sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.98sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.98sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.98sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.98sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.98sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.98sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.98sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.98sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.98sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 8.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 8.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 8.06sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 8.06sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 8.06sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 8.08sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.10sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 8.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 8.11sINFOros2_control_nodeconfigure successful[0m ×9 + 8.24sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.24sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.24sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776969 ms (missed cycles : 2).[0m + 8.37sINFOobjective_server_node[2026-09-18 13:08:12.749] [moveit_pro_license] [info] + 8.37sINFOobjective_server_node************************************************* ×8 + 8.37sINFOobjective_server_node* MoveIt Pro License ×4 + 8.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 8.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 8.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 8.42sINFOros2-17process has finished cleanly [pid 7720] + 8.47sINFOobjective_server_nodeLoaded robot model in 0.0386228 seconds[0m + 8.47sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.47sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.52sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 8.53sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 8.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 8.54sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 8.54sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 8.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 8.54sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 8.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 8.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 8.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.82sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.82sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.83sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.83sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.83sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.83sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.83sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 8.83sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.83sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.84sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.84sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.84sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.84sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 8.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.89sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.89sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.90sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 8.91sINFOros2-18process has finished cleanly [pid 7721] + 8.94sINFOcomponent_container_mtLoaded robot model in 0.413384 seconds[0m + 8.94sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.94sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.98sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 8.98sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.99sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 9.00sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 9.07sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 9.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 9.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.09sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.12sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 9.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 9.29sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356950 ms (missed cycles : 2).[0m + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.36sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.37sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.40sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.46sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.46sINFOmove_group ×12 + 9.46sINFOmove_group******************************************************** ×6 + 9.46sINFOmove_group* MoveGroup using: ×3 + 9.46sINFOmove_group* - apply_planning_scene_service ×3 + 9.46sINFOmove_group* - clear_octomap_service ×3 + 9.46sINFOmove_group* - get_group_urdf ×3 + 9.46sINFOmove_group* - load_geometry_from_file ×3 + 9.46sINFOmove_group* - get_planning_scene_service ×3 + 9.46sINFOmove_group* - kinematics_service ×3 + 9.46sINFOmove_group* - save_geometry_to_file ×3 + 9.46sINFOmove_group* - GetPlanningGroups ×3 + 9.46sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.46sINFOmove_group[0m ×3 + 9.46sINFOmove_group[92mYou can start planning now![0m ×3 + 9.53sINFOros2_control_node[2026-09-18 13:08:13.905] [warning] No force/torque sensor configured. The VFC will ignore force references. + 9.53sINFOros2_control_node[2026-09-18 13:08:13.908] [info] Controller state will be published at 10 Hz. + 9.53sINFOros2_control_node[2026-09-18 13:08:13.909] [info] VelocityForceController 'on_configure' succeeded. + 9.67sINFOcomponent_container_mt[2026-09-18 13:08:14.048] [moveit_pro_license] [info] + 9.67sINFOcomponent_container_mt************************************************* ×6 + 9.67sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.67sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.83sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 9.83sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 9.84sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 9.87sINFOros2-20process has finished cleanly [pid 7723] + 9.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 9.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 9.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 9.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 9.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 9.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 9.95sWARNros2_control_nodeCamera render tick took 0.86 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.99sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.99sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 10.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.19sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.19sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 10.22sINFOros2-14process has finished cleanly [pid 7717] + 10.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.27sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 10.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099886 ms (missed cycles : 3).[0m + 10.35sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 10.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.68sINFOros2_control_node[2026-09-18 13:08:15.063] [info] Controller state will be published at 20 Hz. + 10.69sINFOros2_control_node[2026-09-18 13:08:15.064] [info] JointVelocityController 'on_configure' succeeded. + 11.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 11.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 11.02sINFOros2-21process has finished cleanly [pid 7724] + 11.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 11.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 11.23sWARNobjective_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 + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764295 ms (missed cycles : 3).[0m + 11.43sINFOros2_control_node[2026-09-18 13:08:15.812] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.44sINFOros2_control_node[2026-09-18 13:08:15.814] [info] Controller state will be published at 10 Hz. + 11.44sINFOros2_control_node[2026-09-18 13:08:15.815] [info] VelocityForceController 'on_configure' succeeded. + 11.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.76sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 11.76sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 11.76sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 11.78sINFOros2-19process has finished cleanly [pid 7722] + 11.82sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 11.82sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 11.83sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 11.83sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 12.18sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.18sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 12.18sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 12.18sINFOros2-13process has finished cleanly [pid 7716] + 12.23sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 12.23sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940888 ms (missed cycles : 2).[0m + 12.62sINFOros2_control_node[2026-09-18 13:08:16.996] [info] Controller state will be published at 20 Hz. + 12.62sINFOros2_control_node[2026-09-18 13:08:16.997] [info] JointVelocityController 'on_configure' succeeded. + 12.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 12.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 12.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 12.96sINFOros2-22process has finished cleanly [pid 7725] + 13.00sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 13.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 13.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 13.03sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 13.34sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 13.34sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 13.34sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 13.35sINFOros2-15process has finished cleanly [pid 7718] + 13.41sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.41sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 13.42sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 13.42sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039333 ms (missed cycles : 4).[0m + 13.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 13.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 13.75sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_j63shx66 --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_0rtitc5n --params-file /tmp/launch_params_qrlmmzlk [0m + 13.75sINFOros2-12process has finished cleanly [pid 7715] + 13.77sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 13.79sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 13.81sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 13.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 13.81sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 13.82sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 13.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.99sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.13sINFOros2-16process has finished cleanly [pid 7719] + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124643 ms (missed cycles : 2).[0m + 15.48sWARNros2_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 ×4 + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925639 ms (missed cycles : 2).[0m + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207526 ms (missed cycles : 4).[0m + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949595 ms (missed cycles : 2).[0m + 17.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 18.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324087 ms (missed cycles : 2).[0m + 19.10sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 19.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 19.10sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 19.10sINFOobjective_server_nodeparameter_overrides: [] ×27 + 19.10sINFOobjective_server_nodecaller: ×27 + 19.10sINFOobjective_server_nodetype: 0 ×27 + 19.10sINFOobjective_server_nodename: "" ×27 + 19.10sINFOobjective_server_nodeinstance_id: "" ×27 + 19.10sINFOobjective_server_node ×27 + 19.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789736903.51854086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.14sINFOmove_groupClearing octomap...[0m ×7 + 19.14sINFOmove_groupOctomap cleared.[0m ×7 + 19.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789736903.52871847 seconds + 19.69sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789736904.10708952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789736904.11721420 seconds + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033674 ms (missed cycles : 3).[0m + 20.27sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789736904.69033647 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789736904.84116936 seconds + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219305 ms (missed cycles : 2).[0m + 21.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 21.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789736905.44051766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.07sINFOobjective_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 + 21.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 21.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 21.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789736905.50063944 seconds + 21.66sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789736906.07701182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200877 ms (missed cycles : 2).[0m + 22.79sINFOobjective_server_nodePlanning for 177 path waypoints. + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704753 ms (missed cycles : 3).[0m + 23.10sINFOros2_control_nodeReceived new action goal[0m ×3 + 23.10sINFOros2_control_nodeAccepted new action goal[0m ×3 + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619128 ms (missed cycles : 4).[0m + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899823 ms (missed cycles : 5).[0m + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206012 ms (missed cycles : 3).[0m + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239080 ms (missed cycles : 2).[0m + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.110148 ms (missed cycles : 2).[0m + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507535 ms (missed cycles : 2).[0m + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099768 ms (missed cycles : 2).[0m + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582057 ms (missed cycles : 3).[0m + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939611 ms (missed cycles : 2).[0m + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657158 ms (missed cycles : 3).[0m + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664836 ms (missed cycles : 2).[0m + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867019 ms (missed cycles : 2).[0m + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626687 ms (missed cycles : 3).[0m + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983984 ms (missed cycles : 2).[0m + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801269 ms (missed cycles : 2).[0m + 40.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473315 ms (missed cycles : 3).[0m + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329678 ms (missed cycles : 2).[0m + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784248 ms (missed cycles : 3).[0m + 44.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613580 ms (missed cycles : 2).[0m + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527664 ms (missed cycles : 3).[0m + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465419 ms (missed cycles : 3).[0m + 47.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741267 ms (missed cycles : 2).[0m + 48.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878134 ms (missed cycles : 3).[0m + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.733740 ms (missed cycles : 4).[0m + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443254 ms (missed cycles : 2).[0m + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540880 ms (missed cycles : 3).[0m + 52.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508613 ms (missed cycles : 3).[0m + 54.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189278 ms (missed cycles : 2).[0m + 55.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.205350 ms (missed cycles : 4).[0m + 56.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319354 ms (missed cycles : 2).[0m + 57.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102151 ms (missed cycles : 2).[0m + 58.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443389 ms (missed cycles : 3).[0m + 59.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714588 ms (missed cycles : 3).[0m + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429481 ms (missed cycles : 3).[0m + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671869 ms (missed cycles : 3).[0m + 62.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021707 ms (missed cycles : 4).[0m + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821262 ms (missed cycles : 2).[0m + 64.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475087 ms (missed cycles : 2).[0m + 64.68sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789736949.09476089 seconds + 64.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 65.26sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789736949.67589521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145219 ms (missed cycles : 2).[0m + 66.39sINFOobjective_server_nodeFound path in 0 iterations (2.3306e-05 s). + 66.46sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.51sWARNros2_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 ×6 + 66.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684742 ms (missed cycles : 4).[0m + 67.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643735 ms (missed cycles : 2).[0m + 68.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906948 ms (missed cycles : 2).[0m + 69.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217934 ms (missed cycles : 4).[0m + 70.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789736955.21599817 seconds + 71.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318029 ms (missed cycles : 4).[0m + 71.37sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789736955.79382515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.15sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 72.16sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 72.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789736956.53400445 seconds + 72.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944497 ms (missed cycles : 2).[0m + 72.79sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.83sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789736957.20779085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.237982 ms (missed cycles : 4).[0m + 73.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789736957.93794870 seconds + 74.13sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789736958.54326487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468596 ms (missed cycles : 3).[0m + 74.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789736959.30343437 seconds + 75.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.54sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789736959.91741681 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793124 ms (missed cycles : 3).[0m + 76.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789736960.63757777 seconds + 76.83sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789736961.25262952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776697 ms (missed cycles : 2).[0m + 77.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789736961.97280645 seconds + 78.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951220 ms (missed cycles : 2).[0m + 79.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185850 ms (missed cycles : 4).[0m + 80.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437532 ms (missed cycles : 3).[0m + 81.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002003 ms (missed cycles : 2).[0m + 82.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275620 ms (missed cycles : 2).[0m + 83.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417735 ms (missed cycles : 3).[0m + 84.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557561 ms (missed cycles : 2).[0m + 85.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.453994 ms (missed cycles : 3).[0m + 86.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469669 ms (missed cycles : 3).[0m + 87.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789736971.96589589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462844 ms (missed cycles : 3).[0m + 88.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789736972.71605539 seconds + 88.90sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.94sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789736973.31686711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539366 ms (missed cycles : 2).[0m + 90.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353537 ms (missed cycles : 2).[0m + 91.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876893 ms (missed cycles : 3).[0m + 92.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421327 ms (missed cycles : 2).[0m + 93.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948720 ms (missed cycles : 2).[0m + 94.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598492 ms (missed cycles : 4).[0m + 94.77sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789736979.14698958 seconds + 95.31sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.35sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789736979.73179150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761246 ms (missed cycles : 2).[0m + 96.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789736980.49195433 seconds + 96.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896892 ms (missed cycles : 2).[0m + 96.68sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789736981.11118984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789736981.84136748 seconds + 97.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949555 ms (missed cycles : 2).[0m + 98.02sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789736982.43922925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837048 ms (missed cycles : 3).[0m +100.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441824 ms (missed cycles : 3).[0m +101.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762170 ms (missed cycles : 3).[0m +101.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789736985.60935187 seconds +101.78sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789736986.19134879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +102.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415861 ms (missed cycles : 2).[0m +102.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789736987.02147412 seconds +102.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834730 ms (missed cycles : 3).[0m +104.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618852 ms (missed cycles : 2).[0m +105.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309979 ms (missed cycles : 2).[0m +106.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583670 ms (missed cycles : 3).[0m +107.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540521 ms (missed cycles : 2).[0m +108.51sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.51sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.52sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.52sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.53sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.53sERRORweb_video_auth_proxy-37process has died [pid 7779, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +108.53sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.53sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.53sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.53sERRORweb_bridge_auth_proxy-36process has died [pid 7778, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +108.54sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.54sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.55sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.56sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.57sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.58sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.59sINFOvideo_server-35process has finished cleanly [pid 7777] +108.59sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.60sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.61sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.62sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.63sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.63sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.64sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.65sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.66sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.67sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.68sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.69sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.71sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.72sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.73sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.73sERRORmove_group-23process has died [pid 7726, 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_63fwzwzo --params-file /tmp/launch_params_f0mzywf2 --params-file /tmp/launch_params_43912gyp --params-file /tmp/launch_params_u8cnzzp_ --params-file /tmp/launch_params_uxnl0p26 --params-file /tmp/launch_params_h1gg4d_g']. +108.74sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.74sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.76sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.77sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.77sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.78sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.78sINFOvideo_server2026/09/18 13:09:52 INF shutting down gracefully +108.78sINFOvideo_server2026/09/18 13:09:52 INF [WebRTC] closing +108.78sINFOvideo_server2026/09/18 13:09:52 INF [RTSP] closing +108.78sINFOvideo_server2026/09/18 13:09:52 INF waiting for running hooks +108.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.79sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.79sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.79sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.79sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.79sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.79sINFOcomponent_container_mtStopping planning scene monitor[0m +108.79sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.79sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.79sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.79sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.79sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.79sERRORmove_groupStack trace (most recent call last) in thread 8369: +108.79sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.79sINFOros2_control_nodeShutdown request received....[0m +108.79sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.79sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.79sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.79sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.79sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fca6c1fea63, in __clone +108.79sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fca6c171aa3, in +108.79sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fca6c403db3, in +108.79sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fca6cb67b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.79sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fca6c795620, in rclcpp::Rate::sleep() +108.79sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fca6c6d7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.79sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fca6c699087, in +108.79sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fca6c3d2390, in __cxa_throw +108.79sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fca6c3bca54, in std::terminate() +108.79sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fca6c3d20d9, in +108.79sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fca6c3bcff4, in +108.79sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fca6c0fd8fe, in abort +108.79sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fca6c11a27d, in raise +108.79sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fca6c173b2c, in pthread_kill +108.79sERRORmove_groupAborted (Signal sent by tkill() 7726 0) +108.79sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.79sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.79sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.79sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.79sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.79sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.79sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.79sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.79sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.79sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.79sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.79sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.79sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.79sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.79sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.79sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.79sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.79sINFOros2_control_nodeShutting down the controller manager.[0m +108.79sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +108.79sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 +108.79sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.79sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.80sERRORodom_qos_relay.pyTraceback (most recent call last): +108.80sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +108.80sINFOodom_qos_relay.pymain() +108.80sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +108.80sINFOodom_qos_relay.pyrclpy.spin(node) +108.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.80sINFOodom_qos_relay.pyexecutor.spin_once() +108.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.80sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.80sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.80sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.80sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.80sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.90sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.90sINFOros2_control_nodepublish_async_failures_ 0[0m +108.90sINFOros2_control_nodepublish_async_failures_ 1[0m +109.13sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m +109.62sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7776] +109.62sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.68sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7769] +109.70sINFOui_teleop_bridge-32process has finished cleanly [pid 7774] +109.70sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7768] +109.71sINFOexecute_objective_bridge-31process has finished cleanly [pid 7773] +109.74sINFOparameter_manager_node-24process has finished cleanly [pid 7729] +109.75sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7713] +109.76sINFOwaypoint_manager_node-25process has finished cleanly [pid 7767] +109.76sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7620] +109.76sINFOstatic_transform_publisher-8process has finished cleanly [pid 7619] +109.77sINFOstatic_transform_publisher-7process has finished cleanly [pid 7618] +109.78sERRORlidar_flattener.pyTraceback (most recent call last): +109.78sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.78sINFOlidar_flattener.pymain() +109.78sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.78sINFOlidar_flattener.pyrclpy.spin(node) +109.78sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.78sINFOlidar_flattener.pyexecutor.spin_once() +109.78sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.79sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.79sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.79sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.79sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.79sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.79sINFOlidar_flattener.pyraise ExternalShutdownException() +109.79sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.79sINFOcomponent_container_mt-30process has finished cleanly [pid 7772] +109.80sINFOstatic_transform_publisher-4process has finished cleanly [pid 7615] +109.81sINFOobjective_server_node[2026-09-18 13:09:54.184] [moveit_pro_license] [info] +109.81sINFOobjective_server_node* Application has successfully terminated +109.81sINFOstatic_transform_publisher-3process has finished cleanly [pid 7614] +109.83sERRORlidar_flattener.py-6process has died [pid 7617, 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_yk8sd8ki']. +109.85sERRORcomponent_container_isolated-1process has died [pid 7612, 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_grd8zgli --params-file /tmp/launch_params_qld7s8dt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +109.85sERRORodom_qos_relay.py-5process has died [pid 7616, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +109.86sINFOobjective_server_node_main-28process has finished cleanly [pid 7770] +109.86sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +110.82sINFOcomponent_container_mt-29process has finished cleanly [pid 7771] +111.19sERRORcomponent_container_isolated-2process has died [pid 7613, 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_grd8zgli --params-file /tmp/launch_params_m4395qvs -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +111.28sINFOweb_bridge-33process has finished cleanly [pid 7775] +111.28sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +111.42sINFOros2_control_node-11process has finished cleanly [pid 7714] +117.07sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-13-09-59-775958-5beb5e9d067b-8678 ×2 +121.88sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' +121.89sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform translation: ('0.450000', '0.000000', '0.150000') rotation: ('0.000000', '0.000000', '-0.923880', '0.382683') from 'ridgeback_base_link' to 'lidar_front_ROS' +121.89sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' +121.90sINFOstatic_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' +122.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +122.08sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +122.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +122.10sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +122.10sINFOcontroller_managerupdate rate is 600 Hz +122.10sINFOcontroller_managerOverruns handling is : enabled +122.10sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +122.10sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +122.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +122.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +122.13sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +122.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615639 ms (missed cycles : 6). +122.14sINFOros2_control_node-11process started with pid [8830] ×2 +122.14sINFOmove_group-23process started with pid [8847] ×2 +122.14sINFOparameter_manager_node-24process started with pid [8848] ×2 +122.14sINFOwaypoint_manager_node-25process started with pid [8868] ×2 +122.14sINFOmove_joint_resampler_node-26process started with pid [8869] ×2 +122.14sINFOmove_end_effector_resampler_node-27process started with pid [8870] ×2 +122.14sINFOobjective_server_node_main-28process started with pid [8886] ×2 +122.14sINFOcomponent_container_mt-29process started with pid [8887] ×2 +122.14sINFOcomponent_container_mt-30process started with pid [8888] ×2 +122.14sINFOexecute_objective_bridge-31process started with pid [8889] ×2 +122.14sINFOui_teleop_bridge-32process started with pid [8891] ×2 +122.14sINFOweb_bridge-33process started with pid [8892] ×2 +122.14sINFOtf2_web_republisher_node-34process started with pid [8910] ×2 +122.14sINFOvideo_server-35process started with pid [8911] ×2 +122.14sINFOweb_bridge_auth_proxy-36process started with pid [8912] ×2 +122.14sINFOweb_video_auth_proxy-37process started with pid [8913] ×2 +122.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +122.15sINFOcomponent_container_isolated-1process started with pid [8728] ×2 +122.15sINFOcomponent_container_isolated-2process started with pid [8729] ×2 +122.15sINFOstatic_transform_publisher-3process started with pid [8730] ×2 +122.15sINFOstatic_transform_publisher-4process started with pid [8731] ×2 +122.15sINFOodom_qos_relay.py-5process started with pid [8732] ×2 +122.15sINFOlidar_flattener.py-6process started with pid [8733] ×2 +122.15sINFOstatic_transform_publisher-7process started with pid [8734] ×2 +122.15sINFOstatic_transform_publisher-8process started with pid [8735] ×2 +122.15sINFOscan_to_scan_filter_chain-9process started with pid [8736] ×2 +122.15sINFOscan_to_scan_filter_chain-10process started with pid [8829] ×2 +122.15sINFOros2-12process started with pid [8831] ×2 +122.15sINFOros2-13process started with pid [8832] ×2 +122.15sINFOros2-14process started with pid [8833] ×2 +122.15sINFOros2-15process started with pid [8834] ×2 +122.15sINFOros2-16process started with pid [8835] ×2 +122.15sINFOros2-17process started with pid [8836] ×2 +122.15sINFOros2-18process started with pid [8837] ×2 +122.15sINFOros2-19process started with pid [8841] ×2 +122.15sINFOros2-20process started with pid [8844] ×2 +122.16sINFOros2-21process started with pid [8845] ×2 +122.16sINFOros2-22process started with pid [8846] ×2 +122.20sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.20sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +122.26sINFOcontroller_serverCreating controller server +122.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.615639 ms (missed cycles : 6).[0m ×2 +122.30sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.31sINFOlocal_costmap.local_costmapCreating Costmap +122.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +122.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +122.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +122.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +122.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +122.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.34sINFOmap_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. +122.34sINFOmap_serverCreating +122.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +122.37sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +122.40sINFOsmoother_serverCreating smoother server +122.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +122.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.47sINFOplanner_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. +122.50sINFOplanner_serverCreating +122.52sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.53sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.55sINFOlifecycle_manager_localizationCreating +122.56sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.56sINFOvideo_server2026/09/18 13:10:06 INF MediaMTX v1.20.1, linux, amd64 ×2 +122.56sINFOvideo_server2026/09/18 13:10:06 INF configuration loaded from /tmp/moveit-webrtc-e8k0yik2/mediamtx.yml ×2 +122.56sINFOglobal_costmap.global_costmapCreating Costmap +122.57sINFOvideo_server2026/09/18 13:10:06 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +122.58sINFOvideo_server2026/09/18 13:10:06 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +122.58sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +122.58sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +122.60sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +122.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.66sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.67sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +122.67sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +122.67sINFOmap_serverConfiguring +122.69sINFOrobot_state_publisherRobot initialized +122.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +122.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.73sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +122.74sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.76sINFObt_navigatorCreating +122.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +122.78sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +122.78sINFOamclConfiguring +122.78sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.79sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +122.79sINFOmap_serverActivating +122.79sINFOmap_serverCreating bond (map_server) to lifecycle manager. +122.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.81sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.81sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +122.82sINFOwaypoint_followerCreating +122.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +122.83sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +122.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.87sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +122.89sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.90sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +122.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.91sINFOlifecycle_manager_localizationServer map_server connected with bond. +122.91sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +122.91sINFOamclActivating +122.91sINFOamclSubscribed to initial_pose_topic: /initialpose +122.91sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +122.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.92sINFOamclSubscribed to map_topic: /map +122.92sINFOamclSubscribed to scan_topic: /scan_merged +122.92sINFOamclCreated reinitialize_global_localization service +122.93sINFOamclCreated request_nomotion_update service +122.93sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.469852 seconds +122.93sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +122.93sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +122.93sINFOmove_groupLoaded robot model in 0.469852 seconds[0m ×2 +122.93sINFOamclA new map was received +122.94sINFOamclInitializing particle filter instance +122.96sINFOlifecycle_manager_navigationCreating +122.98sINFOcontroller_managerReceived robot description from topic. +122.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +122.99sWARNlaser_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. +123.00sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +123.01sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +123.02sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +123.02sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +123.03sINFOcontroller_serverConfiguring controller interface +123.03sINFOcontroller_servergetting progress checker plugins.. +123.03sINFOcontroller_servergetting goal checker plugins.. +123.03sINFOcontroller_serverController frequency set to 20.0000Hz +123.03sINFOlocal_costmap.local_costmapConfiguring +123.06sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +123.08sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +123.12sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +123.12sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +123.13sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +123.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559637 ms (missed cycles : 6). +123.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559637 ms (missed cycles : 6).[0m ×2 +123.15sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +123.15sINFOcontroller_serverController Server has progress_checker progress checkers available. +123.16sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +123.16sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +123.16sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +123.17sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +123.19sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +123.20sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +123.20sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +123.22sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +123.22sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +123.23sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +123.23sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +123.25sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +123.25sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +123.26sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +123.26sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +123.29sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +123.29sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +123.29sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +123.29sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +123.29sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +123.30sINFOcontroller_serverOptimizer reset ×2 +123.31sINFOcontroller_serverController Server has FollowPath controllers available. +123.33sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +123.33sINFOsmoother_serverConfiguring smoother server +123.36sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +123.37sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +123.38sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +123.38sINFOplanner_serverConfiguring +123.38sINFOglobal_costmap.global_costmapConfiguring +123.39sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +123.39sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +123.39sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +123.39sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +123.39sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +123.43sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +123.43sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +123.43sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +123.48sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +123.49sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +123.49sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +123.50sINFOplanner_serverPlanner Server has GridBased planners available. +123.52sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +123.52sINFObehavior_serverConfiguring +123.53sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +123.54sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +123.54sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +123.54sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +123.54sINFOamclParticle filter initialization completed +123.54sINFOamclInitializing particles from estimated pose and covariance +123.55sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +123.55sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +123.55sINFObehavior_serverConfiguring spin +123.56sINFObehavior_serverConfiguring backup +123.57sINFObehavior_serverConfiguring drive_on_heading +123.58sINFObehavior_serverConfiguring assisted_teleop +123.59sINFObehavior_serverConfiguring wait +123.60sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +123.60sINFObt_navigatorConfiguring +123.61sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +123.61sINFOlifecycle_manager_localizationServer amcl connected with bond. +123.61sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +123.61sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +123.61sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application +123.65sINFOamclThe bond connection to the lifecycle manager is now fully formed +123.66sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +123.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.66sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.67sINFOwaypoint_manager_nodeLoaded robot model in 0.338348 seconds[0m ×2 +123.75sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +123.80sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +123.80sINFOwaypoint_followerConfiguring +123.82sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +123.82sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +123.82sINFOvelocity_smootherConfiguring velocity smoother +123.84sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +123.84sINFOcontroller_serverActivating +123.84sINFOlocal_costmap.local_costmapActivating +123.84sINFOlocal_costmap.local_costmapChecking transform +123.84sINFOlocal_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. ×8 +124.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.00sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.01sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sINFOmove_group[2026-09-18 13:10:08.390] [moveit_pro_license] [info] ×2 +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.02sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.16sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +124.16sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +124.40sINFOwaypoint_manager_node[2026-09-18 13:10:08.768] [moveit_pro_license] [info] ×2 +124.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746639 ms (missed cycles : 2). +124.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746639 ms (missed cycles : 2).[0m ×2 +124.48sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +124.48sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +124.48sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +124.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +124.49sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +124.49sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +124.49sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +124.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +124.49sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +124.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +124.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +124.97sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +124.97sINFOcontroller_managerActivating component 'ur_mujoco_control'. +124.98sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +124.98sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +125.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +125.20sINFOcontroller_managerLoading controller 'platform_velocity_controller' +125.20sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +125.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +125.23sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +125.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +125.24sINFOplatform_velocity_controllerconfigure successful +125.25sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +125.25sINFOcontroller_managerSuccessfully switched controllers! ×20 +125.25sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +125.28sINFOobjective_server_node[2026-09-18 13:10:09.655] [moveit_pro_license] [info] ×2 +125.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.31sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +125.32sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.32sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.34sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.34sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.34sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +125.34sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +125.35sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +125.35sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +125.35sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +125.35sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +125.35sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +125.36sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +125.36sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +125.36sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +125.36sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +125.36sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +125.37sINFOobjective_server_nodeLoaded robot model in 0.0450418 seconds[0m ×2 +125.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +125.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713799 ms (missed cycles : 3). +125.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713799 ms (missed cycles : 3).[0m ×2 +125.56sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +125.56sINFOcontroller_managerLoading controller 'vacuum_gripper' +125.56sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.56sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +125.57sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +125.61sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.61sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.62sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +125.64sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +125.65sINFOros2-15process has finished cleanly [pid 8834] ×2 +125.65sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +125.66sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +125.66sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +125.66sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +125.67sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +125.68sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +125.79sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +125.79sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.80sWARNobjective_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. +125.84sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.84sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.88sINFOcomponent_container_mtLoaded robot model in 0.306906 seconds[0m ×2 +125.92sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +125.96sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +125.96sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +126.00sINFOros2-16process has finished cleanly [pid 8835] ×2 +126.07sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +126.07sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +126.12sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +126.12sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +126.26sINFOmove_groupMoveGroup debug mode is ON +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.29sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.30sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.31sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.45sINFOmove_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 ******************************************************** +126.51sINFOcomponent_container_mt[2026-09-18 13:10:10.892] [moveit_pro_license] [info] ×2 +126.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023597 ms (missed cycles : 2). +126.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023597 ms (missed cycles : 2).[0m ×2 +126.61sINFOros2_control_node[2026-09-18 13:10:10.989] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +126.61sINFOros2_control_node[2026-09-18 13:10:10.992] [info] Controller state will be published at 10 Hz. ×2 +126.62sINFOros2_control_node[2026-09-18 13:10:10.994] [info] VelocityForceController 'on_configure' succeeded. ×2 +126.63sWARNros2_control_nodeCamera render tick took 0.66 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +126.66sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.66sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.93sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +126.93sINFOcontroller_managerLoading controller 'velocity_force_controller' +126.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +126.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +126.97sINFOros2-20process has finished cleanly [pid 8844] ×2 +127.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +127.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +127.33sINFOros2_control_node[2026-09-18 13:10:11.703] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +127.33sINFOros2_control_node[2026-09-18 13:10:11.705] [info] Controller state will be published at 10 Hz. ×2 +127.33sINFOros2_control_node[2026-09-18 13:10:11.706] [info] VelocityForceController 'on_configure' succeeded. ×2 +127.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901118 ms (missed cycles : 2). +127.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901118 ms (missed cycles : 2).[0m ×2 +127.62sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +127.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +127.63sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +127.63sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +127.66sINFOros2-19process has finished cleanly [pid 8841] ×2 +127.67sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +127.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +127.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +127.68sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789737010.346 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +127.69sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +127.69sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +127.84sINFOlocal_costmap.local_costmapstart +127.94sWARNcontroller_serverParameter controller_server.verbose not found +127.94sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +127.99sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +127.99sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +128.01sINFOros2-14process has finished cleanly [pid 8833] ×2 +128.05sINFOlifecycle_manager_navigationServer controller_server connected with bond. +128.05sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +128.05sINFOsmoother_serverActivating +128.05sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +128.09sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +128.09sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +128.14sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +128.14sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +128.16sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +128.16sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +128.16sINFOplanner_serverActivating +128.16sINFOglobal_costmap.global_costmapActivating +128.16sINFOglobal_costmap.global_costmapChecking transform +128.16sINFOglobal_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. +128.42sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789737012.012 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +128.50sINFOros2_control_node[2026-09-18 13:10:12.881] [info] Controller state will be published at 20 Hz. ×2 +128.50sINFOros2_control_node[2026-09-18 13:10:12.882] [info] JointVelocityController 'on_configure' succeeded. ×2 +128.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949580 ms (missed cycles : 2). +128.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949580 ms (missed cycles : 2).[0m ×2 +128.62sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 8.285ms +128.66sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789737013.033353, but only time 1789737013.511719 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +128.83sINFOros2-22process has finished cleanly [pid 8846] ×2 +128.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.85sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +128.85sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +128.85sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +128.91sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +128.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +128.92sINFOplatform_velocity_controller_nav2configure successful +129.16sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation into the past. Requested time 1789737013.493423 but the earliest data is at time 1789737013.511719, when looking up transform from frame [ridgeback_base_link] to frame [map] +129.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +129.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +129.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +129.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +129.26sINFOros2-17process has finished cleanly [pid 8836] ×2 +129.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +129.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +129.32sINFOforce_torque_sensor_broadcasterconfigure successful +129.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +129.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +129.64sINFOros2-12process has finished cleanly [pid 8831] ×2 +129.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256429 ms (missed cycles : 5). +129.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256429 ms (missed cycles : 5).[0m ×2 +129.66sINFOglobal_costmap.global_costmapstart +129.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +129.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +129.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +129.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +129.75sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +129.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +129.75sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +129.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +129.75sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +129.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +129.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +130.05sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +130.05sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +130.05sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +130.05sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +130.08sINFOros2-18process has finished cleanly [pid 8837] ×2 +130.10sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +130.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +130.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +130.11sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +130.45sINFOros2-13process has finished cleanly [pid 8832] ×2 +130.50sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +130.50sINFOcontroller_managerLoading controller 'joint_velocity_controller' +130.50sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f +130.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3ylv2004 --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_nptart4d --params-file /tmp/launch_params_saoa0p0f [0m ×2 +130.56sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +130.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +130.71sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +130.71sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +130.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162763 ms (missed cycles : 2). +130.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162763 ms (missed cycles : 2).[0m ×2 +130.82sINFOlifecycle_manager_navigationServer planner_server connected with bond. +130.82sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +130.82sINFObehavior_serverActivating +130.82sINFObehavior_serverActivating spin +130.82sINFObehavior_serverActivating backup +130.82sINFObehavior_serverActivating drive_on_heading +130.82sINFObehavior_serverActivating assisted_teleop +130.82sINFObehavior_serverActivating wait +130.82sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +130.92sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +130.92sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +130.92sINFObt_navigatorActivating +130.97sINFOros2_control_node[2026-09-18 13:10:15.346] [info] Controller state will be published at 20 Hz. ×2 +130.97sINFOros2_control_node[2026-09-18 13:10:15.348] [info] JointVelocityController 'on_configure' succeeded. ×2 +131.00sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +131.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +131.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +131.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +131.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +131.10sINFOwaypoint_followerActivating +131.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +131.20sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +131.20sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +131.20sINFOvelocity_smootherActivating +131.20sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +131.29sINFOros2-21process has finished cleanly [pid 8845] ×2 +131.31sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +131.31sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +131.31sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +131.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480449 ms (missed cycles : 2). +131.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480449 ms (missed cycles : 2).[0m ×2 +133.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731625 ms (missed cycles : 2). +133.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731625 ms (missed cycles : 2).[0m ×2 +134.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). +134.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 +135.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). +135.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 +136.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). +136.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 +136.16sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +136.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +136.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +136.20sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +136.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 +136.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +136.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 +137.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). +137.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 +137.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +137.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 +138.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +138.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +138.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +138.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). +138.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 +138.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 +138.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +138.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +138.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +138.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +139.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). +139.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731625 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_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 ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.12sINFOobjective_server_nodecaller: ×10 + 3.12sINFOobjective_server_nodetype: 0 ×10 + 3.12sINFOobjective_server_nodename: "" ×10 + 3.12sINFOobjective_server_nodeinstance_id: "" ×10 + 3.12sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.16sINFOmove_groupClearing octomap...[0m ×4 + 3.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×4 + 3.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.08sINFOjoint_trajectory_controllerReceived new action goal + 7.08sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.08sINFOjoint_trajectory_controllerAccepted new action goal + 7.08sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	25 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731625 ms (missed cycles : 2).[0m ×2 + 0.92sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.97sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_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 ×2 + 2.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.12sINFOobjective_server_nodecaller: ×10 + 3.12sINFOobjective_server_nodetype: 0 ×10 + 3.12sINFOobjective_server_nodename: "" ×10 + 3.12sINFOobjective_server_nodeinstance_id: "" ×10 + 3.12sINFOobjective_server_node ×10 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.16sINFOmove_groupClearing octomap...[0m ×4 + 3.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×4 + 3.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 5.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_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 + 5.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 5.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.67sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	25 warnings · 321 info
+ 0.00sWARNros2_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 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474713 ms (missed cycles : 3).[0m ×2 + 1.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 1.46sWARNros2_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 ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.20sINFOobjective_server_nodecaller: ×10 + 2.20sINFOobjective_server_nodetype: 0 ×10 + 2.20sINFOobjective_server_nodename: "" ×10 + 2.20sINFOobjective_server_nodeinstance_id: "" ×10 + 2.20sINFOobjective_server_node ×10 + 2.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.24sINFOmove_groupClearing octomap...[0m ×4 + 2.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.24sINFOmove_groupOctomap cleared.[0m ×4 + 2.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 2.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.12sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 4.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.81sINFOros2_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 3.089205 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2

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

1 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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2

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

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	23 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664961 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_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 ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.62sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.64sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700136 ms (missed cycles : 2).[0m ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.15sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.15sINFOobjective_server_nodecaller: ×10 + 1.15sINFOobjective_server_nodetype: 0 ×10 + 1.15sINFOobjective_server_nodename: "" ×10 + 1.15sINFOobjective_server_nodeinstance_id: "" ×10 + 1.15sINFOobjective_server_node ×10 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737020.57432985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.19sINFOmove_groupClearing octomap...[0m ×4 + 1.19sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.19sINFOmove_groupOctomap cleared.[0m ×4 + 1.19sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737020.58456469 seconds ×3 + 1.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.74sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737021.15984130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737021.16998100 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245806 ms (missed cycles : 2).[0m ×2 + 2.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.33sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737021.74834633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737021.89892530 seconds ×3 + 3.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.08sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737022.50250506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547371 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737022.55270076 seconds ×3 + 3.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737023.13344336 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089205 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.11sINFOjoint_trajectory_controllerReceived new action goal + 5.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243828 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220578 ms (missed cycles : 4).[0m ×2