80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.4s | 18 errors · 35 warnings · 226 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180154 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180154 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.44sINFOobjective_server_nodecaller: ×8 + 3.44sINFOobjective_server_nodetype: 0 ×8 + 3.44sINFOobjective_server_nodename: "" ×8 + 3.44sINFOobjective_server_nodeinstance_id: "" ×8 + 3.44sINFOobjective_server_node ×8 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.52sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 4.28sWARNobjective_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 + 4.29sERRORobjective_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 + 4.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 4.49sWARNros2_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 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.36sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 7.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 7.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.68sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.4s | 24 errors · 35 warnings · 276 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.73sINFOobjective_server_nodecaller: ×10 + 1.73sINFOobjective_server_nodetype: 0 ×10 + 1.73sINFOobjective_server_nodename: "" ×10 + 1.73sINFOobjective_server_nodeinstance_id: "" ×10 + 1.73sINFOobjective_server_node ×10 + 1.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.80sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×12 + 2.57sERRORobjective_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 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 7.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.32sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.3s | 30 errors · 41 warnings · 275 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.03sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.60sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.64sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 1.40sWARNobjective_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 + 1.40sERRORobjective_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 + 1.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 1.61sWARNros2_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 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.08sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 2.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.47sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 6.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.20sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2).[0m ×2 + 6.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737507.35954332 seconds ×3 + 7.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 41 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sWARNros2_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 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737507.35954332 seconds ×3 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146503 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146503 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 30 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 1.58sINFOjoint_trajectory_controllerGoal reached, success! + 1.58sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.94sWARNobjective_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 + 2.95sERRORobjective_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 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 4.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.94sINFOmove_groupClearing octomap...[0m ×2 + 4.94sINFOmove_groupOctomap cleared.[0m ×2 + 4.94sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.94sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3).[0m ×2 + 7.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737530.85008240 seconds ×3 | ||||
| ✕ 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 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 29 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259678 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259678 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310916 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310916 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115725 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115725 ms (missed cycles : 2).[0m ×2 + 2.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.79sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.79sINFOobjective_server_nodecaller: ×4 + 2.79sINFOobjective_server_nodetype: 0 ×4 + 2.79sINFOobjective_server_nodename: "" ×4 + 2.79sINFOobjective_server_nodeinstance_id: "" ×4 + 2.79sINFOobjective_server_node ×4 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737517.55304718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164455 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164455 ms (missed cycles : 2).[0m ×2 + 3.56sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 3.56sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 3.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737518.28324032 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737518.88692141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272723 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272723 ms (missed cycles : 3).[0m ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.00sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237354 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237354 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410452 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410452 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 138 warnings · 394 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530246 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530246 ms (missed cycles : 2).[0m ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067694 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067694 ms (missed cycles : 2).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731586 ms (missed cycles : 5). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731586 ms (missed cycles : 5).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562884 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562884 ms (missed cycles : 3).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851733 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851733 ms (missed cycles : 2).[0m ×2 + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945732 ms (missed cycles : 4). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945732 ms (missed cycles : 4).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392565 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392565 ms (missed cycles : 3).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613003 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613003 ms (missed cycles : 2).[0m ×2 + 13.97sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 3.337ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149359 ms (missed cycles : 4). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149359 ms (missed cycles : 4).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358174 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358174 ms (missed cycles : 2).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616769 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616769 ms (missed cycles : 3).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279072 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279072 ms (missed cycles : 2).[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756892 ms (missed cycles : 4). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756892 ms (missed cycles : 4).[0m ×2 + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221948 ms (missed cycles : 2). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221948 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981232 ms (missed cycles : 3). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981232 ms (missed cycles : 3).[0m ×2 + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424992 ms (missed cycles : 2). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424992 ms (missed cycles : 2).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734541 ms (missed cycles : 3). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734541 ms (missed cycles : 3).[0m ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189643 ms (missed cycles : 2). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189643 ms (missed cycles : 2).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163426 ms (missed cycles : 2). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163426 ms (missed cycles : 2).[0m ×2 + 26.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190016 ms (missed cycles : 2). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190016 ms (missed cycles : 2).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152381 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152381 ms (missed cycles : 3).[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378935 ms (missed cycles : 3). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378935 ms (missed cycles : 3).[0m ×2 + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700849 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700849 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.976ms + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377922 ms (missed cycles : 3). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377922 ms (missed cycles : 3).[0m ×2 + 31.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481084 ms (missed cycles : 4). + 31.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481084 ms (missed cycles : 4).[0m ×2 + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356995 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356995 ms (missed cycles : 3).[0m ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252554 ms (missed cycles : 2). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252554 ms (missed cycles : 2).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016651 ms (missed cycles : 2). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016651 ms (missed cycles : 2).[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411881 ms (missed cycles : 3). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411881 ms (missed cycles : 3).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623726 ms (missed cycles : 3). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623726 ms (missed cycles : 3).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697623 ms (missed cycles : 3). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697623 ms (missed cycles : 3).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164292 ms (missed cycles : 3). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164292 ms (missed cycles : 3).[0m ×2 + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543760 ms (missed cycles : 3). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543760 ms (missed cycles : 3).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542117 ms (missed cycles : 2). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542117 ms (missed cycles : 2).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721570 ms (missed cycles : 3). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721570 ms (missed cycles : 3).[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2).[0m ×2 + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2).[0m ×2 + 46.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3). + 46.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3).[0m ×2 + 46.17sINFOjoint_trajectory_controllerGoal reached, success! + 46.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737494.28233528 seconds ×3 + 46.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.72sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737494.86874437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 47.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3).[0m ×2 + 47.88sINFOobjective_server_nodeFound path in 0 iterations (2.467e-05 s). ×2 + 47.97sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3).[0m ×2 + 49.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 102 errors · 32 warnings · 479 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.05sINFOmove_groupClearing octomap...[0m ×2 + 0.05sINFOmove_groupOctomap cleared.[0m ×2 + 0.05sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.05sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737530.85008240 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737531.44458914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962573 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962573 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737532.28471398 seconds ×3 + 4.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975453 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975453 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067098 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067098 ms (missed cycles : 2).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286171 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.286171 ms (missed cycles : 5).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796670 ms (missed cycles : 3). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796670 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785572 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785572 ms (missed cycles : 2).[0m ×2 + 10.33sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.35sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_video_auth_proxy-37process has died [pid 8940, 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 + 10.36sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.36sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_bridge_auth_proxy-36process has died [pid 8918, 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 + 10.37sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201151 ms (missed cycles : 2). + 10.37sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.38sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.39sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.40sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.41sINFOvideo_server-35process has finished cleanly [pid 8912] ×2 + 10.41sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.42sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.43sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.44sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.46sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.47sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.48sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.49sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.51sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.52sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.52sINFOcontroller_managerShutdown request received.... + 10.52sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.52sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.52sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.52sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.52sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.52sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.52sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.52sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.53sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.53sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.53sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.53sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.53sINFOcontroller_managerShutting down the controller manager. + 10.53sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.53sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.54sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201151 ms (missed cycles : 2).[0m ×2 + 10.56sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.57sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.57sERRORmove_group-23process has died [pid 8858, 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_6bu8mnkn --params-file /tmp/launch_params_ii852ce_ --params-file /tmp/launch_params_7890il8q --params-file /tmp/launch_params_92_vc2gp --params-file /tmp/launch_params_5kaw2s0a --params-file /tmp/launch_params_4rdzjn7y']. ×2 + 10.58sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.59sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.60sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.61sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.62sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.62sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.62sINFOmap_serverDeactivating + 10.62sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.63sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.63sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.63sINFOcontroller_serverDeactivating + 10.63sINFOlocal_costmap.local_costmapDeactivating + 10.63sINFOvideo_server2026/09/18 13:18:58 INF shutting down gracefully ×2 + 10.63sINFOvideo_server2026/09/18 13:18:58 INF [WebRTC] closing ×2 + 10.63sINFOvideo_server2026/09/18 13:18:58 INF [RTSP] closing ×2 + 10.63sINFOvideo_server2026/09/18 13:18:58 INF waiting for running hooks ×2 + 10.63sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOmap_serverCleaning up + 10.63sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.63sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.63sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.63sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.63sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.63sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.63sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.64sERRORmove_groupStack trace (most recent call last) in thread 9505: ×2 + 10.64sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.64sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50a2306a63, in __clone ×2 + 10.64sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50a2279aa3, in ×2 + 10.64sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50a250bdb3, in ×2 + 10.64sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f50a2c6fb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.64sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f50a289d620, in rclcpp::Rate::sleep() ×2 + 10.64sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.64sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.64sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f50a27dfd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.64sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f50a27a1087, in ×2 + 10.64sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50a24da390, in __cxa_throw ×2 + 10.64sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50a24c4a54, in std::terminate() ×2 + 10.64sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50a24da0d9, in ×2 + 10.64sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50a24c4ff4, in ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.64sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.64sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.64sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.64sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.64sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.64sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.64sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.64sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.64sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.64sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50a22058fe, in abort ×2 + 10.64sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50a222227d, in raise ×2 + 10.64sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50a227bb2c, in pthread_kill ×2 + 10.64sERRORmove_groupAborted (Signal sent by tkill() 8858 0) ×2 + 10.64sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.64sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.64sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.64sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.64sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.64sINFOodom_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 + 10.64sINFOodom_qos_relay.pymain() ×2 + 10.64sINFOodom_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 + 10.64sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.64sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.64sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.65sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.65sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.65sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.65sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.65sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.65sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.65sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.65sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.65sERRORamclThe bond connection to the lifecycle manager has been broken + 10.70sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.71sINFOcontroller_serverCleaning up + 10.71sINFOlocal_costmap.local_costmapCleaning up + 10.73sWARNros2_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 + 10.74sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.74sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.74sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.74sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.74sINFOvelocity_smootherDeactivating + 10.74sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.75sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.75sINFOsmoother_serverDeactivating + 10.75sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.76sINFOsmoother_serverCleaning up + 10.78sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.78sINFOplanner_serverDeactivating + 10.78sINFOglobal_costmap.global_costmapDeactivating + 10.86sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.86sINFOwaypoint_followerDeactivating + 10.86sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.97sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.97sINFObt_navigatorDeactivating + 10.97sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.08sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.08sINFObehavior_serverDeactivating + 11.08sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.20sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.20sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.20sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.20sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.20sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.20sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.20sINFOvelocity_smootherCleaning up + 11.20sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.20sINFOwaypoint_followerCleaning up + 11.23sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.23sINFObt_navigatorCleaning up + 11.41sINFObt_navigatorCompleted Cleaning up + 11.41sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.41sINFObehavior_serverCleaning up + 11.45sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8905] ×2 + 11.45sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.47sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.47sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.47sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.47sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.52sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8898] ×2 + 11.53sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8897] ×2 + 11.54sINFOexecute_objective_bridge-31process has finished cleanly [pid 8902] ×2 + 11.55sINFOui_teleop_bridge-32process has finished cleanly [pid 8903] ×2 + 11.57sINFOparameter_manager_node-24process has finished cleanly [pid 8859] ×2 + 11.58sINFOwaypoint_manager_node-25process has finished cleanly [pid 8896] ×2 + 11.59sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8841] ×2 + 11.60sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8745] ×2 + 11.60sINFOcomponent_container_mt-30process has finished cleanly [pid 8901] ×2 + 11.61sINFOstatic_transform_publisher-8process has finished cleanly [pid 8744] ×2 + 11.61sINFOstatic_transform_publisher-7process has finished cleanly [pid 8743] ×2 + 11.62sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.62sINFOlidar_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 + 11.62sINFOlidar_flattener.pymain() ×2 + 11.62sINFOlidar_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 + 11.62sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.62sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.62sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.62sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.62sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.62sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.62sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.62sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.62sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.62sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.62sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.62sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.62sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.62sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.64sINFOstatic_transform_publisher-4process has finished cleanly [pid 8740] ×2 + 11.65sINFOstatic_transform_publisher-3process has finished cleanly [pid 8739] ×2 + 11.65sINFOobjective_server_node[2026-09-18 13:18:59.686] [moveit_pro_license] [info] ×2 + 11.65sINFOobjective_server_node************************************************* ×4 + 11.65sINFOobjective_server_node* MoveIt Pro License ×2 + 11.65sINFOobjective_server_node* Application has successfully terminated ×2 + 11.66sERRORlidar_flattener.py-6process has died [pid 8742, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_i74szpe8']. ×2 + 11.69sERRORodom_qos_relay.py-5process has died [pid 8741, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.71sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.71sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.71sINFOobjective_server_node_main-28process has finished cleanly [pid 8899] ×2 + 11.71sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.72sINFOplanner_serverCleaning up + 11.74sINFOglobal_costmap.global_costmapCleaning up + 11.75sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.75sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.78sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.78sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.78sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.78sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.78sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.96sERRORcomponent_container_isolated-2process has died [pid 8738, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_rfe5u0m_ --params-file /tmp/launch_params_bt1ckb_8 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.11sERRORcomponent_container_isolated-1process has died [pid 8737, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_rfe5u0m_ --params-file /tmp/launch_params_h2417s4u -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.65sINFOcomponent_container_mt-29process has finished cleanly [pid 8900] ×2 + 13.09sINFOros2_control_node-11process has finished cleanly [pid 8842] ×2 + 13.21sINFOweb_bridge-33process has finished cleanly [pid 8904] ×2 + 13.21sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 30 errors · 68 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 0.36sWARNobjective_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 + 0.37sERRORobjective_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 + 0.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.94sINFOobjective_server_nodecaller: ×10 + 0.94sINFOobjective_server_nodetype: 0 ×10 + 0.94sINFOobjective_server_nodename: "" ×10 + 0.94sINFOobjective_server_nodeinstance_id: "" ×10 + 0.94sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 1.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.35sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2).[0m ×2 + 4.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737507.35954332 seconds ×3 + 4.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146503 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146503 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840322 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840322 ms (missed cycles : 2).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538676 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538676 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881386 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881386 ms (missed cycles : 3).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008625 ms (missed cycles : 4). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008625 ms (missed cycles : 4).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259678 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259678 ms (missed cycles : 2).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310916 ms (missed cycles : 4). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310916 ms (missed cycles : 4).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115725 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115725 ms (missed cycles : 2).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737517.55304718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164455 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164455 ms (missed cycles : 2).[0m ×2 + 15.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737518.28324032 seconds ×3 + 15.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.94sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737518.88692141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272723 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272723 ms (missed cycles : 3).[0m ×2 + 16.45sINFOjoint_trajectory_controllerReceived new action goal + 16.45sINFOjoint_trajectory_controllerAccepted new action goal + 16.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.81sWARNros2_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 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237354 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237354 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.5s | 18 errors · 50 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310916 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310916 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115725 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115725 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.19sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.72sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 1.72sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.72sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.72sINFOobjective_server_nodecaller: ×10 + 1.72sINFOobjective_server_nodetype: 0 ×10 + 1.72sINFOobjective_server_nodename: "" ×10 + 1.72sINFOobjective_server_nodeinstance_id: "" ×10 + 1.72sINFOobjective_server_node ×10 + 1.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737517.55304718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164455 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164455 ms (missed cycles : 2).[0m ×2 + 2.49sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.50sERRORobjective_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 + 2.50sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737518.28324032 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.10sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737518.88692141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272723 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272723 ms (missed cycles : 3).[0m ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 3.93sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237354 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237354 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410452 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410452 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 8.93sINFOjoint_trajectory_controllerGoal reached, success! + 8.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 8.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 9.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 9.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 10.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.87sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 10.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 11.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 12.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.30sINFOmove_groupClearing octomap...[0m ×2 + 12.30sINFOmove_groupOctomap cleared.[0m ×2 + 12.30sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.30sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.2s | 12 errors · 44 warnings · 244 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737494.28233528 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_nodecaller: ×8 + 2.89sINFOobjective_server_nodetype: 0 ×8 + 2.89sINFOobjective_server_nodename: "" ×8 + 2.89sINFOobjective_server_nodeinstance_id: "" ×8 + 2.89sINFOobjective_server_node ×8 + 2.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737494.86874437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.467e-05 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.16sINFOjoint_trajectory_controllerReceived new action goal + 4.16sINFOjoint_trajectory_controllerAccepted new action goal + 4.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3).[0m ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180154 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180154 ms (missed cycles : 3).[0m ×2 + 6.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 7.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 8.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 8.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 8.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 9.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.04sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.12sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 9.88sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 9.89sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 9.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 10.09sWARNros2_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 + 10.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.56sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 11.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 11.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.91sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.96sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.4s | 12 errors · 33 warnings · 221 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.60sINFOobjective_server_nodecaller: ×8 + 0.60sINFOobjective_server_nodetype: 0 ×8 + 0.60sINFOobjective_server_nodename: "" ×8 + 0.60sINFOobjective_server_nodeinstance_id: "" ×8 + 0.60sINFOobjective_server_node ×8 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sWARNobjective_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 + 1.37sERRORobjective_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 + 1.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737530.85008240 seconds ×3 + 6.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.67sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737531.44458914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962573 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962573 ms (missed cycles : 2).[0m ×2 + 7.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737532.28471398 seconds ×3 + 7.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975453 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975453 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067098 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067098 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 18 warnings · 319 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 2.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sINFOjoint_trajectory_controllerReceived new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530246 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737494.28233528 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737494.86874437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.467e-05 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOjoint_trajectory_controllerReceived new action goal + 4.16sINFOjoint_trajectory_controllerAccepted new action goal + 4.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3).[0m ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267208 ms (missed cycles : 2).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607879 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814131 ms (missed cycles : 3).[0m ×2 + 2.33sINFOjoint_trajectory_controllerGoal reached, success! + 2.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737494.28233528 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737494.86874437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715721 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.467e-05 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOjoint_trajectory_controllerReceived new action goal + 4.16sINFOjoint_trajectory_controllerAccepted new action goal + 4.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924128 ms (missed cycles : 3).[0m ×2 + 5.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3).[0m ×2 + 5.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 29 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594300 ms (missed cycles : 3).[0m ×2 + 0.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180154 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180154 ms (missed cycles : 3).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 1.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 2.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.44sINFOobjective_server_nodecaller: ×6 + 3.44sINFOobjective_server_nodetype: 0 ×6 + 3.44sINFOobjective_server_nodename: "" ×6 + 3.44sINFOobjective_server_nodeinstance_id: "" ×6 + 3.44sINFOobjective_server_node ×6 + 3.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.52sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 4.28sWARNobjective_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 + 4.29sERRORobjective_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 + 4.29sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 4.49sWARNros2_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 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.96sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 5.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.36sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.57sERRORobjective_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 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.57sERRORobjective_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 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.57sERRORobjective_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 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.57sERRORobjective_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 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 29 warnings · 223 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909183 ms (missed cycles : 2).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 1.17sINFOjoint_trajectory_controllerGoal reached, success! + 1.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737500.44887567 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018950 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.73sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.73sINFOobjective_server_nodecaller: ×8 + 1.73sINFOobjective_server_nodetype: 0 ×8 + 1.73sINFOobjective_server_nodename: "" ×8 + 1.73sINFOobjective_server_nodeinstance_id: "" ×8 + 1.73sINFOobjective_server_node ×8 + 1.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737501.02324319 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 1.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.80sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 3.021ms + 2.57sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 2.57sERRORobjective_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 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 2.78sWARNros2_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 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.25sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 4.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 4.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.60sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 5.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 38 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sWARNros2_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 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737507.35954332 seconds ×3 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 38 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sWARNros2_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 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737507.35954332 seconds ×3 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 38 warnings · 214 info |
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.00sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737501.82343459 seconds ×3 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707708 ms (missed cycles : 3).[0m ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.21sWARNros2_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 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.64sINFOobjective_server_nodecaller: ×8 + 0.64sINFOobjective_server_nodetype: 0 ×8 + 0.64sINFOobjective_server_nodename: "" ×8 + 0.64sINFOobjective_server_nodeinstance_id: "" ×8 + 0.64sINFOobjective_server_node ×8 + 0.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737502.49976826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399992 ms (missed cycles : 3).[0m ×2 + 1.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737503.27992010 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.08sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737503.89428616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332164 ms (missed cycles : 2).[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737504.65444446 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037908 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737505.26201773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737506.01708460 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741671 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.80sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737506.61939168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988357 ms (missed cycles : 2).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737507.35954332 seconds ×3 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805432 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_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 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_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 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 12 errors · 27 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695670 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898938 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267294 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.70sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sWARNobjective_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 + 4.02sERRORobjective_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 + 4.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 4.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 5.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.01sINFOmove_groupClearing octomap...[0m ×2 + 6.01sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.01sINFOcomponent_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 3.305439 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 24 warnings · 196 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737524.77706027 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.60sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.60sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.60sINFOobjective_server_nodecaller: ×6 + 0.60sINFOobjective_server_nodetype: 0 ×6 + 0.60sINFOobjective_server_nodename: "" ×6 + 0.60sINFOobjective_server_nodeinstance_id: "" ×6 + 0.60sINFOobjective_server_node ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467890 ms (missed cycles : 3).[0m ×2 + 0.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737525.36273479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sWARNobjective_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 + 1.37sERRORobjective_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 + 1.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737526.09289169 seconds ×3 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847931 ms (missed cycles : 2).[0m ×2 + 1.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.93sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737526.69790792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234384 ms (missed cycles : 4).[0m ×2 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737527.44806051 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737528.06995845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.36sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.36sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305439 ms (missed cycles : 2).[0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263105 ms (missed cycles : 2).[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760264 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737530.85008240 seconds ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.1s | 75 errors · 511 warnings · 2526 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/2026-09-18-13-15-12-400506-17fc988dcb87-7570 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.07sINFOros2_control_node-11process started with pid [7725] + 5.07sINFOmove_group-23process started with pid [7743] + 5.07sINFOparameter_manager_node-24process started with pid [7752] + 5.07sINFOwaypoint_manager_node-25process started with pid [7779] + 5.07sINFOmove_joint_resampler_node-26process started with pid [7780] + 5.07sINFOmove_end_effector_resampler_node-27process started with pid [7781] + 5.07sINFOobjective_server_node_main-28process started with pid [7782] + 5.07sINFOcomponent_container_mt-29process started with pid [7783] + 5.07sINFOcomponent_container_mt-30process started with pid [7784] + 5.07sINFOexecute_objective_bridge-31process started with pid [7785] + 5.07sINFOui_teleop_bridge-32process started with pid [7786] + 5.07sINFOweb_bridge-33process started with pid [7787] + 5.07sINFOtf2_web_republisher_node-34process started with pid [7788] + 5.07sINFOvideo_server-35process started with pid [7789] + 5.07sINFOweb_bridge_auth_proxy-36process started with pid [7790] + 5.07sINFOweb_video_auth_proxy-37process started with pid [7795] + 5.07sINFOcomponent_container_isolated-1process started with pid [7620] + 5.07sINFOcomponent_container_isolated-2process started with pid [7621] + 5.07sINFOstatic_transform_publisher-3process started with pid [7622] + 5.07sINFOstatic_transform_publisher-4process started with pid [7623] + 5.08sINFOodom_qos_relay.py-5process started with pid [7624] + 5.08sINFOlidar_flattener.py-6process started with pid [7625] + 5.08sINFOstatic_transform_publisher-7process started with pid [7626] + 5.08sINFOstatic_transform_publisher-8process started with pid [7627] + 5.08sINFOscan_to_scan_filter_chain-9process started with pid [7628] + 5.08sINFOscan_to_scan_filter_chain-10process started with pid [7724] + 5.08sINFOros2-12process started with pid [7726] + 5.08sINFOros2-13process started with pid [7727] + 5.08sINFOros2-14process started with pid [7728] + 5.08sINFOros2-15process started with pid [7729] + 5.08sINFOros2-16process started with pid [7731] + 5.08sINFOros2-17process started with pid [7733] + 5.08sINFOros2-18process started with pid [7734] + 5.08sINFOros2-19process started with pid [7735] + 5.08sINFOros2-20process started with pid [7736] + 5.08sINFOros2-21process started with pid [7737] + 5.08sINFOros2-22process started with pid [7742] + 5.13sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.13sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.13sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.13sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.13sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.13sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.13sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.13sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.13sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.14sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.14sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.14sWARNros2_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 + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.814160 ms (missed cycles : 6).[0m + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.25sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.38sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.38sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.38sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.42sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.49sINFOvideo_server2026/09/18 13:15:19 INF MediaMTX v1.20.1, linux, amd64 + 5.49sINFOvideo_server2026/09/18 13:15:19 INF configuration loaded from /tmp/moveit-webrtc-_etjl9xb/mediamtx.yml + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.50sINFOvideo_server2026/09/18 13:15:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.50sINFOvideo_server2026/09/18 13:15:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.50sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.60sINFOlaunch_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 + 5.62sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.63sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.77sWARNscan_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 + 5.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.80sINFOmove_groupLoaded robot model in 0.322119 seconds[0m + 5.80sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.80sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926472 ms (missed cycles : 5).[0m + 6.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.61sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.61sWARNmove_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 + 6.61sWARNmove_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 + 6.61sWARNmove_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 + 6.62sWARNmove_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 + 6.62sWARNmove_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 + 6.62sWARNmove_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 + 6.62sWARNmove_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 + 6.62sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.68sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.68sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.71sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 6.71sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 6.80sINFOwaypoint_manager_nodeLoaded robot model in 0.270773 seconds[0m + 6.80sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.80sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 7.02sINFOmove_group[2026-09-18 13:15:21.037] [moveit_pro_license] [info] + 7.02sINFOmove_group************************************************* ×6 + 7.02sINFOmove_group* MoveIt Pro License ×3 + 7.02sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.29sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.30sWARNwaypoint_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 + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270373 ms (missed cycles : 2).[0m + 7.46sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.47sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.47sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.47sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.47sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.47sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.47sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.47sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.48sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.48sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.48sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.55sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.55sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.55sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.55sWARNros2_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 + 7.55sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.55sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.55sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.55sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.55sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.55sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.55sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.55sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.55sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.55sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.55sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.55sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.55sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.55sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.55sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.55sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.55sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.55sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.55sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.55sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.57sINFOwaypoint_manager_node[2026-09-18 13:15:21.592] [moveit_pro_license] [info] + 7.57sINFOwaypoint_manager_node************************************************* ×6 + 7.57sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.58sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 7.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 7.67sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 7.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 7.70sINFOros2_control_nodeconfigure successful[0m ×9 + 7.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 7.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 7.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.85sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 7.85sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 7.85sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 7.95sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.95sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.96sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 8.01sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.01sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 8.04sINFOros2-12process has finished cleanly [pid 7726] + 8.13sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 8.19sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 8.19sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 8.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 8.22sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 8.46sINFOobjective_server_node[2026-09-18 13:15:22.482] [moveit_pro_license] [info] + 8.46sINFOobjective_server_node************************************************* ×8 + 8.46sINFOobjective_server_node* MoveIt Pro License ×4 + 8.46sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.53sINFOobjective_server_nodeLoaded robot model in 0.0250113 seconds[0m + 8.53sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.53sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.61sINFOros2_control_node[2026-09-18 13:15:22.624] [info] Controller state will be published at 20 Hz. + 8.61sINFOros2_control_node[2026-09-18 13:15:22.625] [info] JointVelocityController 'on_configure' succeeded. + 8.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980004 ms (missed cycles : 2).[0m + 8.93sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 8.93sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 8.94sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.94sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.94sWARNobjective_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 + 8.95sWARNobjective_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 + 8.95sWARNobjective_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 + 8.95sWARNobjective_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 + 8.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.98sINFOros2-22process has finished cleanly [pid 7742] + 8.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 8.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 9.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 9.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 9.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 9.02sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 9.02sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 9.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 9.02sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 9.03sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 9.03sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 9.03sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 9.03sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 9.03sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 9.03sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 9.04sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 9.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 9.04sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 9.04sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 9.04sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 9.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 9.05sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 9.05sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 9.05sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 9.07sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 9.07sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 9.24sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 9.26sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 9.31sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 9.34sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 9.34sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 9.34sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 9.35sINFOcomponent_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 + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 9.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.38sINFOros2-16process has finished cleanly [pid 7731] + 9.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.41sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 9.41sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.49sINFOmove_group ×12 + 9.49sINFOmove_group******************************************************** ×6 + 9.49sINFOmove_group* MoveGroup using: ×3 + 9.49sINFOmove_group* - apply_planning_scene_service ×3 + 9.49sINFOmove_group* - clear_octomap_service ×3 + 9.49sINFOmove_group* - get_group_urdf ×3 + 9.49sINFOmove_group* - load_geometry_from_file ×3 + 9.49sINFOmove_group* - get_planning_scene_service ×3 + 9.49sINFOmove_group* - kinematics_service ×3 + 9.49sINFOmove_group* - save_geometry_to_file ×3 + 9.49sINFOmove_group* - GetPlanningGroups ×3 + 9.49sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.49sINFOmove_group[0m ×3 + 9.49sINFOmove_group[92mYou can start planning now![0m ×3 + 9.53sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.57sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 9.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 9.62sINFOcomponent_container_mtLoaded robot model in 0.367458 seconds[0m + 9.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 9.62sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.62sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.73sWARNros2_control_nodeCamera render tick took 0.96 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 + 9.76sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.77sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070245 ms (missed cycles : 2).[0m + 9.84sINFOros2_control_node[2026-09-18 13:15:23.857] [info] Controller state will be published at 20 Hz. + 9.84sINFOros2_control_node[2026-09-18 13:15:23.858] [info] JointVelocityController 'on_configure' succeeded. + 10.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.02sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.03sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.04sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 10.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 10.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 10.17sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 10.22sINFOros2-21process has finished cleanly [pid 7737] + 10.24sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 10.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 10.25sINFOcomponent_container_mt[2026-09-18 13:15:24.263] [moveit_pro_license] [info] + 10.25sINFOcomponent_container_mt************************************************* ×6 + 10.25sINFOcomponent_container_mt* MoveIt Pro License ×3 + 10.25sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 10.25sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 10.25sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 10.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m + 10.57sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 10.57sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 10.57sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 10.59sINFOros2-15process has finished cleanly [pid 7729] + 10.60sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.60sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.63sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 10.64sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 10.65sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 10.65sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 10.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317002 ms (missed cycles : 2).[0m + 10.94sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 10.94sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 10.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 10.97sINFOros2-13process has finished cleanly [pid 7727] + 10.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 11.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 11.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 11.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 11.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 11.32sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.32sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.32sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 11.34sINFOros2-14process has finished cleanly [pid 7728] + 11.39sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 11.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 11.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.74sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.74sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 11.77sINFOros2-17process has finished cleanly [pid 7733] + 11.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 11.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 11.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.125861 ms (missed cycles : 2).[0m + 12.25sINFOros2_control_node[2026-09-18 13:15:26.263] [warning] No force/torque sensor configured. The VFC will ignore force references. + 12.25sINFOros2_control_node[2026-09-18 13:15:26.266] [info] Controller state will be published at 10 Hz. + 12.25sINFOros2_control_node[2026-09-18 13:15:26.267] [info] VelocityForceController 'on_configure' succeeded. + 12.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.58sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 12.59sINFOros2-19process has finished cleanly [pid 7735] + 12.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 12.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 12.68sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 12.68sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 12.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 12.69sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 12.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 12.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.99sINFOros2-18process has finished cleanly [pid 7734] + 13.01sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 13.01sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 13.01sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_s8t9l91d --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_7r7lxqeh --params-file /tmp/launch_params_9ty39dop [0m + 13.07sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 13.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055328 ms (missed cycles : 2).[0m + 13.43sINFOros2_control_node[2026-09-18 13:15:27.452] [warning] No force/torque sensor configured. The VFC will ignore force references. + 13.44sINFOros2_control_node[2026-09-18 13:15:27.454] [info] Controller state will be published at 10 Hz. + 13.44sINFOros2_control_node[2026-09-18 13:15:27.455] [info] VelocityForceController 'on_configure' succeeded. + 13.50sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.52sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.76sINFOros2-20process has finished cleanly [pid 7736] + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613500 ms (missed cycles : 4).[0m + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517972 ms (missed cycles : 2).[0m + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980529 ms (missed cycles : 4).[0m + 16.76sWARNros2_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 ×3 + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473850 ms (missed cycles : 3).[0m + 17.61sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413795 ms (missed cycles : 4).[0m + 18.64sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.64sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.64sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.64sINFOobjective_server_nodecaller: ×27 + 18.64sINFOobjective_server_nodetype: 0 ×27 + 18.64sINFOobjective_server_nodename: "" ×27 + 18.64sINFOobjective_server_nodeinstance_id: "" ×27 + 18.64sINFOobjective_server_node ×27 + 18.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737332.69821548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 18.68sINFOmove_groupClearing octomap...[0m ×7 + 18.68sINFOmove_groupOctomap cleared.[0m ×7 + 18.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 18.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737332.70840240 seconds + 19.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737333.29380178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737333.30392265 seconds + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163098 ms (missed cycles : 2).[0m + 19.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 19.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737333.89035487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737334.04112124 seconds + 20.58sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504771 ms (missed cycles : 3).[0m + 20.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737334.63910913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.63sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×4 + 20.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737334.69923925 seconds + 21.22sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737335.28292227 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582280 ms (missed cycles : 4).[0m + 22.33sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.62sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.62sINFOros2_control_nodeAccepted new action goal[0m ×3 + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106017 ms (missed cycles : 2).[0m + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025624 ms (missed cycles : 2).[0m + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691809 ms (missed cycles : 3).[0m + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875712 ms (missed cycles : 3).[0m + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643410 ms (missed cycles : 2).[0m + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196796 ms (missed cycles : 2).[0m + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237654 ms (missed cycles : 2).[0m + 30.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171506 ms (missed cycles : 2).[0m + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579180 ms (missed cycles : 2).[0m + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344060 ms (missed cycles : 3).[0m + 33.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269856 ms (missed cycles : 2).[0m + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899063 ms (missed cycles : 2).[0m + 35.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.601868 ms (missed cycles : 4).[0m + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.896248 ms (missed cycles : 5).[0m + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988757 ms (missed cycles : 3).[0m + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830590 ms (missed cycles : 2).[0m + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534093 ms (missed cycles : 3).[0m + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534817 ms (missed cycles : 3).[0m + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310776 ms (missed cycles : 2).[0m + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.214996 ms (missed cycles : 4).[0m + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258344 ms (missed cycles : 2).[0m + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130297 ms (missed cycles : 2).[0m + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899601 ms (missed cycles : 4).[0m + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952525 ms (missed cycles : 2).[0m + 48.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073390 ms (missed cycles : 2).[0m + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686265 ms (missed cycles : 2).[0m + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827077 ms (missed cycles : 2).[0m + 52.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278709 ms (missed cycles : 3).[0m + 53.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763524 ms (missed cycles : 3).[0m + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654543 ms (missed cycles : 3).[0m + 55.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445542 ms (missed cycles : 3).[0m + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555309 ms (missed cycles : 2).[0m + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.881702 ms (missed cycles : 2).[0m + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026997 ms (missed cycles : 2).[0m + 58.52sWARNros2_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 + 59.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279031 ms (missed cycles : 2).[0m + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250552 ms (missed cycles : 3).[0m + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325697 ms (missed cycles : 2).[0m + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881125 ms (missed cycles : 3).[0m + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522996 ms (missed cycles : 4).[0m + 64.26sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737378.30113268 seconds + 64.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.82sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 64.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737378.87820125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 64.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564939 ms (missed cycles : 3).[0m + 65.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362272 ms (missed cycles : 3).[0m + 65.96sINFOobjective_server_nodeFound path in 0 iterations (2.2999e-05 s). + 66.03sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 67.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252459 ms (missed cycles : 2).[0m + 68.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099157 ms (missed cycles : 2).[0m + 69.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749579 ms (missed cycles : 3).[0m + 70.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257807 ms (missed cycles : 2).[0m + 70.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737384.42832398 seconds + 70.96sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.00sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737385.01325607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416267 ms (missed cycles : 3).[0m + 71.70sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 71.72sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 71.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737385.73344660 seconds + 72.35sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.429697 ms (missed cycles : 4).[0m + 72.39sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737386.40879703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737387.18895531 seconds + 73.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342686 ms (missed cycles : 3).[0m + 73.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.77sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737387.79006076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737388.53080750 seconds + 74.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005381 ms (missed cycles : 2).[0m + 75.08sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737389.14442778 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171302 ms (missed cycles : 3).[0m + 75.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737389.86463737 seconds + 76.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.46sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737390.47887063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987270 ms (missed cycles : 4).[0m + 77.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737391.19903278 seconds + 77.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015658 ms (missed cycles : 2).[0m + 78.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705646 ms (missed cycles : 3).[0m + 79.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240179 ms (missed cycles : 2).[0m + 81.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688411 ms (missed cycles : 3).[0m + 82.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680056 ms (missed cycles : 2).[0m + 83.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009112 ms (missed cycles : 4).[0m + 84.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619988 ms (missed cycles : 2).[0m + 85.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098854 ms (missed cycles : 3).[0m + 86.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932033 ms (missed cycles : 2).[0m + 87.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737401.16543293 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994900 ms (missed cycles : 3).[0m + 87.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737401.89559793 seconds + 88.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431971 ms (missed cycles : 3).[0m + 88.44sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.48sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737402.50311661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 89.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474383 ms (missed cycles : 3).[0m + 90.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047940 ms (missed cycles : 2).[0m + 91.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303677 ms (missed cycles : 3).[0m + 92.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451922 ms (missed cycles : 4).[0m + 93.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212228 ms (missed cycles : 2).[0m + 94.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737408.32324505 seconds + 94.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814236 ms (missed cycles : 3).[0m + 94.85sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 94.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737408.90689683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737409.62704992 seconds + 95.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766211 ms (missed cycles : 4).[0m + 96.17sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737410.23596048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220660 ms (missed cycles : 2).[0m + 96.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737410.95720744 seconds + 97.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737411.56127858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985274 ms (missed cycles : 2).[0m + 98.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780395 ms (missed cycles : 4).[0m +100.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942947 ms (missed cycles : 5).[0m +100.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737414.18142009 seconds +100.71sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +100.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737414.76447558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596466 ms (missed cycles : 2).[0m +101.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737415.57459521 seconds +101.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +102.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501028 ms (missed cycles : 2).[0m +103.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366710 ms (missed cycles : 3).[0m +104.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993353 ms (missed cycles : 3).[0m +105.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787509 ms (missed cycles : 2).[0m +106.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227422 ms (missed cycles : 2).[0m +107.05sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.05sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +107.06sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.06sERRORweb_video_auth_proxy-37process has died [pid 7795, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +107.06sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +107.07sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.07sERRORweb_bridge_auth_proxy-36process has died [pid 7790, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +107.07sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.07sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.07sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.08sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.08sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.08sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.08sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.08sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.08sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.09sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.10sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +107.10sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +107.11sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +107.12sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +107.13sINFOvideo_server-35process has finished cleanly [pid 7789] +107.13sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +107.14sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +107.15sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +107.16sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +107.16sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +107.17sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +107.18sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +107.20sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +107.21sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +107.22sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +107.24sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +107.25sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +107.26sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +107.27sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +107.28sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +107.28sERRORmove_group-23process has died [pid 7743, 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_rvvn0mws --params-file /tmp/launch_params_l0j7xywo --params-file /tmp/launch_params_h0lyhs07 --params-file /tmp/launch_params_89z0dau8 --params-file /tmp/launch_params_7va5j0e2 --params-file /tmp/launch_params_ucuw1ner']. +107.29sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +107.30sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +107.31sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +107.32sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +107.33sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +107.33sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +107.34sINFOvideo_server2026/09/18 13:17:01 INF shutting down gracefully +107.34sINFOvideo_server2026/09/18 13:17:01 INF [WebRTC] closing +107.34sINFOvideo_server2026/09/18 13:17:01 INF [RTSP] closing +107.34sINFOvideo_server2026/09/18 13:17:01 INF waiting for running hooks +107.34sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +107.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +107.34sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOcomponent_container_mtStopping planning scene monitor[0m +107.34sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +107.34sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +107.34sERRORmove_groupwhat(): context cannot be slept with because it's invalid +107.34sERRORmove_groupStack trace (most recent call last) in thread 8390: +107.34sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +107.34sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6634e14a63, in __clone +107.34sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6634d87aa3, in +107.34sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6635019db3, in +107.34sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f663577db54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +107.34sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f66353ab620, in rclcpp::Rate::sleep() +107.34sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f66352edd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +107.34sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f66352af087, in +107.34sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +107.34sINFOros2_control_nodeShutdown request received....[0m +107.34sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +107.34sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +107.34sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +107.34sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +107.34sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +107.34sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +107.34sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +107.35sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +107.35sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +107.35sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +107.35sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +107.35sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +107.35sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +107.35sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +107.35sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +107.35sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +107.35sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +107.35sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +107.35sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +107.35sINFOros2_control_nodeShutting down the controller manager.[0m +107.35sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6634fe8390, in __cxa_throw +107.35sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6634fd2a54, in std::terminate() +107.35sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6634fe80d9, in +107.35sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6634fd2ff4, in +107.35sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6634d138fe, in abort +107.35sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6634d3027d, in raise +107.35sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6634d89b2c, in pthread_kill +107.35sERRORmove_groupAborted (Signal sent by tkill() 7743 0) +107.35sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +107.35sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +107.35sERRORodom_qos_relay.pyTraceback (most recent call last): +107.35sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +107.35sINFOodom_qos_relay.pymain() +107.35sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +107.35sINFOodom_qos_relay.pyrclpy.spin(node) +107.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +107.35sINFOodom_qos_relay.pyexecutor.spin_once() +107.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +107.35sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +107.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +107.35sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +107.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +107.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +107.35sINFOodom_qos_relay.pyreturn next(self._cb_iter) +107.35sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +107.35sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +107.35sINFOodom_qos_relay.pyraise ExternalShutdownException() +107.35sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +107.46sINFOros2_control_nodeAsync messages lost 0[0m ×2 +107.46sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 +107.61sWARNros2_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 +108.17sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7788] +108.17sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +108.23sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7781] +108.24sINFOui_teleop_bridge-32process has finished cleanly [pid 7786] +108.25sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7780] +108.25sINFOexecute_objective_bridge-31process has finished cleanly [pid 7785] +108.29sINFOparameter_manager_node-24process has finished cleanly [pid 7752] +108.30sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7724] +108.30sINFOwaypoint_manager_node-25process has finished cleanly [pid 7779] +108.31sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7628] +108.32sINFOstatic_transform_publisher-8process has finished cleanly [pid 7627] +108.33sINFOstatic_transform_publisher-7process has finished cleanly [pid 7626] +108.33sERRORcomponent_container_isolated-1process has died [pid 7620, 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_sb0qn_o5 --params-file /tmp/launch_params_7h7thirt -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +108.33sINFOcomponent_container_mt-30process has finished cleanly [pid 7784] +108.33sERRORlidar_flattener.pyTraceback (most recent call last): +108.34sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +108.34sINFOlidar_flattener.pymain() +108.34sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +108.34sINFOlidar_flattener.pyrclpy.spin(node) +108.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.34sINFOlidar_flattener.pyexecutor.spin_once() +108.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.34sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +108.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.34sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.34sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.34sINFOlidar_flattener.pyreturn next(self._cb_iter) +108.34sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +108.34sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.34sINFOlidar_flattener.pyraise ExternalShutdownException() +108.34sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +108.35sINFOstatic_transform_publisher-4process has finished cleanly [pid 7623] +108.36sINFOstatic_transform_publisher-3process has finished cleanly [pid 7622] +108.38sINFOobjective_server_node[2026-09-18 13:17:02.393] [moveit_pro_license] [info] +108.38sINFOobjective_server_node* Application has successfully terminated +108.38sERRORlidar_flattener.py-6process has died [pid 7625, 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_6uio4_n0']. +108.39sINFOcomponent_container_mt-29process has finished cleanly [pid 7783] +108.40sERRORodom_qos_relay.py-5process has died [pid 7624, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +108.43sINFOobjective_server_node_main-28process has finished cleanly [pid 7782] +108.43sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +109.66sERRORcomponent_container_isolated-2process has died [pid 7621, 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_sb0qn_o5 --params-file /tmp/launch_params_hf1h__uo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +109.81sINFOweb_bridge-33process has finished cleanly [pid 7787] +109.81sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +109.98sINFOros2_control_node-11process has finished cleanly [pid 7725] +115.65sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-13-17-08-011904-17fc988dcb87-8687 ×2 +120.38sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +120.38sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' +120.38sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' +120.39sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' +120.39sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +120.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +120.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +120.42sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +120.44sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +120.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +120.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +120.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +120.48sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +120.51sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +120.51sINFOmap_serverCreating +120.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +120.63sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +120.63sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +120.64sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +120.65sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +120.65sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +120.65sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +120.73sINFOros2_control_node-11process started with pid [8842] ×2 +120.73sINFOmove_group-23process started with pid [8858] ×2 +120.73sINFOparameter_manager_node-24process started with pid [8859] ×2 +120.73sINFOwaypoint_manager_node-25process started with pid [8896] ×2 +120.73sINFOmove_joint_resampler_node-26process started with pid [8897] ×2 +120.73sINFOmove_end_effector_resampler_node-27process started with pid [8898] ×2 +120.73sINFOobjective_server_node_main-28process started with pid [8899] ×2 +120.73sINFOcomponent_container_mt-29process started with pid [8900] ×2 +120.73sINFOcomponent_container_mt-30process started with pid [8901] ×2 +120.73sINFOexecute_objective_bridge-31process started with pid [8902] ×2 +120.73sINFOui_teleop_bridge-32process started with pid [8903] ×2 +120.73sINFOweb_bridge-33process started with pid [8904] ×2 +120.73sINFOtf2_web_republisher_node-34process started with pid [8905] ×2 +120.73sINFOvideo_server-35process started with pid [8912] ×2 +120.73sINFOweb_bridge_auth_proxy-36process started with pid [8918] ×2 +120.73sINFOweb_video_auth_proxy-37process started with pid [8940] ×2 +120.73sINFOcomponent_container_isolated-1process started with pid [8737] ×2 +120.73sINFOcomponent_container_isolated-2process started with pid [8738] ×2 +120.73sINFOstatic_transform_publisher-3process started with pid [8739] ×2 +120.73sINFOstatic_transform_publisher-4process started with pid [8740] ×2 +120.73sINFOodom_qos_relay.py-5process started with pid [8741] ×2 +120.73sINFOlidar_flattener.py-6process started with pid [8742] ×2 +120.73sINFOstatic_transform_publisher-7process started with pid [8743] ×2 +120.73sINFOstatic_transform_publisher-8process started with pid [8744] ×2 +120.73sINFOscan_to_scan_filter_chain-9process started with pid [8745] ×2 +120.73sINFOscan_to_scan_filter_chain-10process started with pid [8841] ×2 +120.73sINFOros2-12process started with pid [8843] ×2 +120.73sINFOros2-13process started with pid [8844] ×2 +120.73sINFOros2-14process started with pid [8845] ×2 +120.73sINFOros2-15process started with pid [8846] ×2 +120.73sINFOros2-16process started with pid [8847] ×2 +120.74sINFOros2-17process started with pid [8848] ×2 +120.74sINFOros2-18process started with pid [8849] ×2 +120.74sINFOros2-19process started with pid [8852] ×2 +120.74sINFOros2-20process started with pid [8853] ×2 +120.74sINFOros2-21process started with pid [8856] ×2 +120.74sINFOros2-22process started with pid [8857] ×2 +120.74sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +120.75sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.75sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +120.78sINFOcontroller_serverCreating controller server +120.78sINFOlifecycle_manager_localizationCreating +120.79sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +120.83sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +120.83sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +120.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +120.84sINFOlocal_costmap.local_costmapCreating Costmap +120.84sINFOcontroller_managerupdate rate is 600 Hz +120.84sINFOcontroller_managerOverruns handling is : enabled +120.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +120.85sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +120.85sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +120.85sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +120.85sINFOmap_serverConfiguring +120.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +120.87sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +120.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +120.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +120.88sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +120.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +120.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +120.90sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +120.93sINFOsmoother_serverCreating smoother server +120.94sINFOvideo_server2026/09/18 13:17:14 INF MediaMTX v1.20.1, linux, amd64 ×2 +120.94sINFOvideo_server2026/09/18 13:17:14 INF configuration loaded from /tmp/moveit-webrtc-7tw0h0kn/mediamtx.yml ×2 +120.94sINFOvideo_server2026/09/18 13:17:14 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +120.94sINFOvideo_server2026/09/18 13:17:14 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +120.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +120.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +120.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +120.97sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +120.97sINFOamclConfiguring +120.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096458 ms (missed cycles : 2). +120.97sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +120.97sINFOmap_serverActivating +120.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096458 ms (missed cycles : 2).[0m ×2 +120.98sINFOmap_serverCreating bond (map_server) to lifecycle manager. +120.98sINFOrobot_state_publisherRobot initialized +120.98sINFOcontroller_managerReceived robot description from topic. +120.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +120.99sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.02sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +121.02sINFOplanner_serverCreating +121.04sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +121.07sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.08sINFOglobal_costmap.global_costmapCreating Costmap +121.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.09sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +121.09sINFOlifecycle_manager_localizationServer map_server connected with bond. +121.09sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +121.09sINFOamclActivating +121.09sINFOamclSubscribed to initial_pose_topic: /initialpose +121.09sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +121.10sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +121.11sINFOamclSubscribed to map_topic: /map +121.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +121.11sINFOamclSubscribed to scan_topic: /scan_merged +121.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.11sINFOamclCreated reinitialize_global_localization service +121.12sINFOamclCreated request_nomotion_update service +121.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.12sINFOamclA new map was received +121.12sINFOamclInitializing particle filter instance +121.15sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.16sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +121.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +121.21sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.26sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.28sINFObt_navigatorCreating +121.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +121.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +121.33sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.34sINFOwaypoint_followerCreating +121.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +121.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +121.41sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.41sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +121.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.49sINFOlifecycle_manager_navigationCreating +121.53sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +121.54sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.55sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +121.55sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +121.55sINFOcontroller_serverConfiguring controller interface +121.55sINFOcontroller_servergetting progress checker plugins.. +121.55sINFOcontroller_servergetting goal checker plugins.. +121.55sINFOcontroller_serverController frequency set to 20.0000Hz +121.55sINFOlocal_costmap.local_costmapConfiguring +121.57sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +121.59sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +121.61sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.4272 seconds +121.61sINFOmove_groupLoaded robot model in 0.4272 seconds[0m ×2 +121.61sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +121.62sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +121.65sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +121.65sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +121.66sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +121.69sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +121.70sINFOcontroller_serverController Server has progress_checker progress checkers available. +121.70sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +121.70sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... +121.71sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +121.72sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +121.75sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +121.76sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +121.76sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +121.76sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +121.76sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +121.76sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +121.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +121.76sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +121.76sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +121.76sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +121.76sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +121.77sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +121.78sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +121.78sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +121.79sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +121.79sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +121.79sINFOcontroller_serverOptimizer reset ×2 +121.80sINFOcontroller_serverController Server has FollowPath controllers available. +121.82sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +121.82sINFOsmoother_serverConfiguring smoother server +121.83sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +121.83sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +121.84sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +121.84sINFOplanner_serverConfiguring +121.84sINFOglobal_costmap.global_costmapConfiguring +121.86sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +121.87sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +121.87sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +121.87sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +121.89sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +121.92sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +121.92sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +121.92sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +121.95sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +121.95sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +121.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +121.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433217 ms (missed cycles : 4). +121.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433217 ms (missed cycles : 4).[0m ×2 +121.97sINFOplanner_serverPlanner Server has GridBased planners available. +122.01sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +122.01sINFObehavior_serverConfiguring +122.04sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +122.05sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +122.06sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +122.06sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +122.07sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +122.08sINFObehavior_serverConfiguring spin +122.10sINFObehavior_serverConfiguring backup +122.11sINFObehavior_serverConfiguring drive_on_heading +122.12sINFObehavior_serverConfiguring assisted_teleop +122.12sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +122.13sWARNmove_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. +122.13sWARNmove_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. +122.13sWARNmove_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. +122.13sWARNmove_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. +122.13sWARNmove_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. +122.13sWARNmove_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. +122.14sWARNmove_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. +122.14sWARNmove_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. +122.14sWARNmove_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. +122.14sWARNmove_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. +122.15sINFObehavior_serverConfiguring wait +122.17sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +122.17sINFObt_navigatorConfiguring +122.18sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +122.18sINFOamclParticle filter initialization completed +122.18sINFOamclInitializing particles from estimated pose and covariance +122.19sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +122.19sINFOamclThe bond connection to the lifecycle manager is now fully formed +122.19sINFOlifecycle_manager_localizationServer amcl connected with bond. +122.19sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +122.19sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +122.19sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +122.25sINFOwaypoint_manager_nodeLoaded robot model in 0.294207 seconds[0m ×2 +122.34sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +122.38sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +122.38sINFOwaypoint_followerConfiguring +122.40sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +122.40sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +122.40sINFOvelocity_smootherConfiguring velocity smoother +122.41sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +122.41sINFOcontroller_serverActivating +122.41sINFOlocal_costmap.local_costmapActivating +122.41sINFOlocal_costmap.local_costmapChecking transform +122.41sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×10 +122.47sINFOmove_group[2026-09-18 13:17:16.484] [moveit_pro_license] [info] ×2 +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.64sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +122.64sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +122.87sINFOwaypoint_manager_node[2026-09-18 13:17:16.885] [moveit_pro_license] [info] ×2 +122.98sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +122.98sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +122.98sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +122.98sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +122.98sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +122.99sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +122.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612387 ms (missed cycles : 3). +122.99sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +122.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612387 ms (missed cycles : 3).[0m ×2 +123.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +123.00sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +123.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +123.00sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +123.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +123.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. +123.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +123.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +123.71sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +123.71sINFOcontroller_managerLoading controller 'vacuum_gripper' +123.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +123.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +123.77sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +123.77sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +123.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +123.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +123.78sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +123.79sINFOcontroller_managerSuccessfully switched controllers! ×20 +123.79sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +123.86sINFOobjective_server_node[2026-09-18 13:17:17.882] [moveit_pro_license] [info] ×2 +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +123.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +123.93sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +123.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +123.95sINFOobjective_server_nodeLoaded robot model in 0.0349736 seconds[0m ×2 +123.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +123.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +123.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +123.95sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +123.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +123.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +123.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +123.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +123.96sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +123.96sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +123.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +123.97sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +123.97sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +124.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363832 ms (missed cycles : 3). +124.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363832 ms (missed cycles : 3).[0m ×2 +124.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +124.09sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +124.09sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +124.10sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +124.10sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +124.12sINFOros2-16process has finished cleanly [pid 8847] ×2 +124.16sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +124.16sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +124.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +124.17sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +124.18sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +124.18sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +124.20sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +124.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +124.21sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +124.33sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +124.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.33sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.34sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.41sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.41sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +124.50sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +124.50sINFOcontroller_managerLoading controller 'velocity_force_controller' +124.55sINFOros2-13process has finished cleanly [pid 8844] ×2 +124.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +124.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +124.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +124.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +124.68sINFOcomponent_container_mtLoaded robot model in 0.45809 seconds[0m ×2 +124.81sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +124.89sINFOmove_groupMoveGroup debug mode is ON +125.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271766 ms (missed cycles : 2). +125.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271766 ms (missed cycles : 2).[0m ×2 +125.12sWARNros2_control_nodeCamera render tick took 0.58 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 +125.15sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +125.16sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +125.22sINFOros2_control_node[2026-09-18 13:17:19.235] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sINFOros2_control_node[2026-09-18 13:17:19.239] [info] Controller state will be published at 10 Hz. ×2 +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.22sWARNplanning_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. +125.23sINFOros2_control_node[2026-09-18 13:17:19.241] [info] VelocityForceController 'on_configure' succeeded. ×2 +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.23sWARNplanning_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. +125.24sWARNplanning_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. +125.24sWARNplanning_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. +125.24sWARNplanning_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. +125.27sINFOmove_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
********************************************************
+125.50sINFOcomponent_container_mt[2026-09-18 13:17:19.515] [moveit_pro_license] [info] ×2 +125.53sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +125.53sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +125.55sINFOros2-19process has finished cleanly [pid 8852] ×2 +125.60sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +125.60sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +125.65sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +125.65sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +125.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 +126.00sINFOros2_control_node[2026-09-18 13:17:20.016] [info] Controller state will be published at 20 Hz. ×2 +126.00sINFOros2_control_node[2026-09-18 13:17:20.017] [info] JointVelocityController 'on_configure' succeeded. ×2 +126.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436465 ms (missed cycles : 5). +126.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436465 ms (missed cycles : 5).[0m ×2 +126.18sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789737438.562 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +126.30sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +126.30sINFOcontroller_managerLoading controller 'platform_velocity_controller' +126.30sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +126.30sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +126.34sINFOros2-22process has finished cleanly [pid 8857] ×2 +126.37sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +126.38sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +126.39sINFOplatform_velocity_controllerconfigure successful +126.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +126.40sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +126.69sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +126.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +126.69sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +126.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +126.70sINFOros2-15process has finished cleanly [pid 8846] ×2 +126.74sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +126.74sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +126.74sINFOforce_torque_sensor_broadcasterconfigure successful +126.75sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +126.75sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +127.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +127.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +127.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +127.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +127.07sINFOros2-12process has finished cleanly [pid 8843] ×2 +127.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965113 ms (missed cycles : 2). +127.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965113 ms (missed cycles : 2).[0m ×2 +127.12sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +127.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +127.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +127.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +127.15sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +127.41sINFOlocal_costmap.local_costmapstart +127.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +127.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +127.44sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +127.47sINFOros2-14process has finished cleanly [pid 8845] ×2 +127.51sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +127.51sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +127.51sWARNcontroller_serverParameter controller_server.verbose not found +127.52sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +127.62sINFOlifecycle_manager_navigationServer controller_server connected with bond. +127.62sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +127.62sINFOsmoother_serverActivating +127.62sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +127.73sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +127.73sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +127.73sINFOplanner_serverActivating +127.73sINFOglobal_costmap.global_costmapActivating +127.73sINFOglobal_costmap.global_costmapChecking transform +127.73sINFOglobal_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. +127.82sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 8.176ms +127.86sINFOros2_control_node[2026-09-18 13:17:21.876] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +127.86sINFOros2_control_node[2026-09-18 13:17:21.878] [info] Controller state will be published at 10 Hz. ×2 +127.86sINFOros2_control_node[2026-09-18 13:17:21.879] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620398 ms (missed cycles : 2). +128.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620398 ms (missed cycles : 2).[0m ×2 +128.17sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.17sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +128.18sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +128.18sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +128.21sINFOros2-20process has finished cleanly [pid 8853] ×2 +128.23sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789737442.242087, but only time 1789737442.332165 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +128.24sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +128.24sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +128.24sINFOplatform_velocity_controller_nav2configure successful +128.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +128.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +128.57sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +128.57sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +128.60sINFOros2-17process has finished cleanly [pid 8848] ×2 +128.65sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +128.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +128.66sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +128.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +128.66sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +128.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +128.67sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +128.73sINFOglobal_costmap.global_costmapstart +128.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +128.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' +128.98sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr +128.98sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bsvavchq --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_6io1cvtf --params-file /tmp/launch_params_92qq71qr [0m ×2 +129.01sINFOros2-18process has finished cleanly [pid 8849] ×2 +129.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +129.04sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +129.10sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789737442.329 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114242 ms (missed cycles : 3). +129.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114242 ms (missed cycles : 3).[0m ×2 +129.44sINFOros2_control_node[2026-09-18 13:17:23.459] [info] Controller state will be published at 20 Hz. ×2 +129.44sINFOros2_control_node[2026-09-18 13:17:23.460] [info] JointVelocityController 'on_configure' succeeded. ×2 +129.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +129.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +129.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +129.76sINFOros2-21process has finished cleanly [pid 8856] ×2 +129.78sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +129.78sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +129.88sINFOlifecycle_manager_navigationServer planner_server connected with bond. +129.88sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +129.88sINFObehavior_serverActivating +129.88sINFObehavior_serverActivating spin +129.88sINFObehavior_serverActivating backup +129.88sINFObehavior_serverActivating drive_on_heading +129.88sINFObehavior_serverActivating assisted_teleop +129.88sINFObehavior_serverActivating wait +129.88sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +129.99sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +129.99sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +129.99sINFObt_navigatorActivating +130.05sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +130.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796783 ms (missed cycles : 2). +130.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796783 ms (missed cycles : 2).[0m ×2 +130.15sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +130.15sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +130.15sINFOwaypoint_followerActivating +130.15sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +130.25sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +130.25sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +130.25sINFOvelocity_smootherActivating +130.25sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +130.36sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +130.36sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +130.36sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +131.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265344 ms (missed cycles : 2). +131.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265344 ms (missed cycles : 2).[0m ×2 +132.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). +132.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 +133.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). +133.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 +134.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). +134.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 +134.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+134.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +134.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +134.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +134.65sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +134.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 +135.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 +135.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). +135.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 +135.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 +136.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +136.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). +136.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 +136.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +136.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 +137.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +137.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +137.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +137.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). +137.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265344 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.44sINFOobjective_server_nodecaller: ×10 + 3.44sINFOobjective_server_nodetype: 0 ×10 + 3.44sINFOobjective_server_nodename: "" ×10 + 3.44sINFOobjective_server_nodeinstance_id: "" ×10 + 3.44sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 7.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.44sINFOjoint_trajectory_controllerReceived new action goal + 7.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.44sINFOjoint_trajectory_controllerAccepted new action goal + 7.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 312 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265344 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265344 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 2.41sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.44sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.44sINFOobjective_server_nodecaller: ×10 + 3.44sINFOobjective_server_nodetype: 0 ×10 + 3.44sINFOobjective_server_nodename: "" ×10 + 3.44sINFOobjective_server_nodeinstance_id: "" ×10 + 3.44sINFOobjective_server_node ×10 + 3.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.48sINFOmove_groupClearing octomap...[0m ×4 + 3.48sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.48sINFOmove_groupOctomap cleared.[0m ×4 + 3.48sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 5.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237206 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 1.33sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.37sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.37sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.37sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.37sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.37sINFOobjective_server_nodecaller: ×10 + 2.37sINFOobjective_server_nodetype: 0 ×10 + 2.37sINFOobjective_server_nodename: "" ×10 + 2.37sINFOobjective_server_nodeinstance_id: "" ×10 + 2.37sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.41sINFOmove_groupClearing octomap...[0m ×4 + 2.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×4 + 2.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 4.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_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 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 4.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.99sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 6.06sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.36sINFOjoint_trajectory_controllerReceived new action goal + 6.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.37sINFOjoint_trajectory_controllerAccepted new action goal + 6.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530246 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530246 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143397 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.72sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.74sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.74sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248877 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.25sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.25sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.25sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.25sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.25sINFOobjective_server_nodecaller: ×10 + 1.25sINFOobjective_server_nodetype: 0 ×10 + 1.25sINFOobjective_server_nodename: "" ×10 + 1.25sINFOobjective_server_nodeinstance_id: "" ×10 + 1.25sINFOobjective_server_node ×10 + 1.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737448.66771412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.29sINFOmove_groupClearing octomap...[0m ×4 + 1.29sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.29sINFOmove_groupOctomap cleared.[0m ×4 + 1.29sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737448.67789030 seconds ×3 + 1.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.84sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737449.25608683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737449.26619935 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973146 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737449.83860731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737449.98917270 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737450.59699225 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101661 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737450.67711997 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737451.25642943 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365816 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.25sINFOjoint_trajectory_controllerReceived new action goal + 5.25sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.25sINFOjoint_trajectory_controllerAccepted new action goal + 5.25sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201821 ms (missed cycles : 2).[0m ×2 | ||||