80
Total objective tests
11
Objectives passed
7
Objectives failed
62
Objectives skipped
6.3s
Avg test time
61%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives7 fail6 pass24 skip
| ✕ failed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 1.3s | 18 errors · 35 warnings · 227 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.20sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.20sINFOobjective_server_nodecaller: ×8 + 3.20sINFOobjective_server_nodetype: 0 ×8 + 3.20sINFOobjective_server_nodename: "" ×8 + 3.20sINFOobjective_server_nodeinstance_id: "" ×8 + 3.20sINFOobjective_server_node ×8 + 3.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 3.99sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×9 + 4.00sERRORobjective_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. ×9 + 4.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 5.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 6.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 7.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 1.3s | 6 errors · 27 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481378 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481378 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790452 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790452 ms (missed cycles : 2).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752964 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752964 ms (missed cycles : 2).[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737584.92579269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585747 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585747 ms (missed cycles : 2).[0m ×2 + 4.15sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 4.15sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 4.15sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737585.66600060 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518704 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518704 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.71sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737586.26715827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637891 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637891 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869021 ms (missed cycles : 2). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869021 ms (missed cycles : 2).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 1.3s | 12 errors · 30 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3).[0m ×2 | ||||
| ✕ failed | Plan Path Along Surface | plan_path_along_surface.xml | 1.3s | 30 errors · 41 warnings · 215 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 0.31sWARNobjective_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 + 0.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.94sINFOobjective_server_nodecaller: ×8 + 0.94sINFOobjective_server_nodetype: 0 ×8 + 0.94sINFOobjective_server_nodename: "" ×8 + 0.94sINFOobjective_server_nodeinstance_id: "" ×8 + 0.94sINFOobjective_server_node ×8 + 0.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 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 ×12 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 1.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.28sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 4.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737574.74418736 seconds ×3 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306256 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306256 ms (missed cycles : 2).[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796814 ms (missed cycles : 5). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796814 ms (missed cycles : 5).[0m ×2 | ||||
| ✕ failed | Move to Look at Plane | move_to_look_at_plane.xml | 1.3s | 30 errors · 38 warnings · 276 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: 1789737567.99979782 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_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 + 0.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 0.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.57sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.57sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.57sINFOobjective_server_nodecaller: ×10 + 0.57sINFOobjective_server_nodetype: 0 ×10 + 0.57sINFOobjective_server_nodename: "" ×10 + 0.57sINFOobjective_server_nodeinstance_id: "" ×10 + 0.57sINFOobjective_server_node ×10 + 0.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 1.36sWARNobjective_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 + 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. ×15 + 1.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 4.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 5.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.00sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737574.74418736 seconds ×3 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2).[0m ×2 | ||||
| ✕ failed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 1.3s | 12 errors · 32 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 1.68sINFOjoint_trajectory_controllerGoal reached, success! + 1.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.23sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.23sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.23sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.23sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.23sINFOobjective_server_nodecaller: ×8 + 2.23sINFOobjective_server_nodetype: 0 ×8 + 2.23sINFOobjective_server_nodename: "" ×8 + 2.23sINFOobjective_server_nodeinstance_id: "" ×8 + 2.23sINFOobjective_server_node ×8 + 2.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.01sWARNobjective_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 + 3.02sERRORobjective_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 + 3.02sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.63sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.95sINFOmove_groupClearing octomap...[0m ×2 + 4.95sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.96sINFOmove_groupOctomap cleared.[0m ×2 + 4.96sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3).[0m ×2 + 7.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737597.70413446 seconds ×3 + 7.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2).[0m ×2 + 7.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.89sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737598.27606058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✕ failed | Move to Arm Upright | move_to_arm_upright.xml | 1.3s | 24 errors · 38 warnings · 277 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 1.59sINFOjoint_trajectory_controllerGoal reached, success! + 1.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.16sINFOobjective_server_nodecaller: ×10 + 2.16sINFOobjective_server_nodetype: 0 ×10 + 2.16sINFOobjective_server_nodename: "" ×10 + 2.16sINFOobjective_server_nodeinstance_id: "" ×10 + 2.16sINFOobjective_server_node ×10 + 2.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 2.95sWARNobjective_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 + 2.95sERRORobjective_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. ×12 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 6.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 7.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.55sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.59sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 142 warnings · 395 info |
+ 0.00sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.53sINFOobjective_server_nodecaller: ×12 + 0.53sINFOobjective_server_nodetype: 0 ×12 + 0.53sINFOobjective_server_nodename: "" ×12 + 0.53sINFOobjective_server_nodeinstance_id: "" ×12 + 0.53sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_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 + 2.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 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: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_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 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871066 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871066 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028394 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028394 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758873 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758873 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990335 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990335 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351757 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351757 ms (missed cycles : 3).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505641 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505641 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177632 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177632 ms (missed cycles : 2).[0m ×2 + 13.85sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 2.950ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574476 ms (missed cycles : 3).[0m ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025706 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025706 ms (missed cycles : 2).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453392 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453392 ms (missed cycles : 2).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041688 ms (missed cycles : 4). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041688 ms (missed cycles : 4).[0m ×2 + 17.60sWARNros2_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 ×2 + 17.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754198 ms (missed cycles : 2). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754198 ms (missed cycles : 2).[0m ×2 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622376 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622376 ms (missed cycles : 2).[0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029915 ms (missed cycles : 3). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029915 ms (missed cycles : 3).[0m ×2 + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854906 ms (missed cycles : 3).[0m ×2 + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421726 ms (missed cycles : 2). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421726 ms (missed cycles : 2).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847331 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847331 ms (missed cycles : 3).[0m ×2 + 24.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866882 ms (missed cycles : 3). + 24.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866882 ms (missed cycles : 3).[0m ×2 + 25.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681904 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681904 ms (missed cycles : 3).[0m ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462909 ms (missed cycles : 2). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462909 ms (missed cycles : 2).[0m ×2 + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559058 ms (missed cycles : 3). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559058 ms (missed cycles : 3).[0m ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535306 ms (missed cycles : 2). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535306 ms (missed cycles : 2).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476109 ms (missed cycles : 3). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476109 ms (missed cycles : 3).[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992790 ms (missed cycles : 3). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992790 ms (missed cycles : 3).[0m ×2 + 32.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370263 ms (missed cycles : 3). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370263 ms (missed cycles : 3).[0m ×2 + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340725 ms (missed cycles : 3). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340725 ms (missed cycles : 3).[0m ×2 + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035572 ms (missed cycles : 2). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035572 ms (missed cycles : 2).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757140 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757140 ms (missed cycles : 2).[0m ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930853 ms (missed cycles : 2). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930853 ms (missed cycles : 2).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900892 ms (missed cycles : 3). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900892 ms (missed cycles : 3).[0m ×2 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227723 ms (missed cycles : 2). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227723 ms (missed cycles : 2).[0m ×2 + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982793 ms (missed cycles : 4). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982793 ms (missed cycles : 4).[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320859 ms (missed cycles : 2). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320859 ms (missed cycles : 2).[0m ×2 + 42.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002751 ms (missed cycles : 2). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002751 ms (missed cycles : 2).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2).[0m ×2 + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2).[0m ×2 + 46.16sINFOjoint_trajectory_controllerGoal reached, success! + 46.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737561.91783047 seconds ×3 + 46.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.21sINFOros2_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 + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2).[0m ×2 + 46.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.73sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737562.49968410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2).[0m ×2 + 47.83sINFOobjective_server_nodeFound path in 0 iterations (2.4311e-05 s). ×2 + 47.90sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 47.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2).[0m ×2 + 49.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3).[0m ×2 + 50.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 109 errors · 37 warnings · 506 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×3 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×3 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.58sINFOobjective_server_nodecaller: ×4 + 0.58sINFOobjective_server_nodetype: 0 ×4 + 0.58sINFOobjective_server_nodename: "" ×4 + 0.58sINFOobjective_server_nodeinstance_id: "" ×4 + 0.58sINFOobjective_server_node ×4 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.64sINFOmove_groupClearing octomap...[0m ×2 + 0.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.64sINFOmove_groupOctomap cleared.[0m ×2 + 0.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737597.70413446 seconds ×3 + 3.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.60sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737598.27606058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041389 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041389 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737599.13617849 seconds ×3 + 4.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497775 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497775 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856289 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856289 ms (missed cycles : 2).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486084 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486084 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298048 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298048 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605689 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605689 ms (missed cycles : 2).[0m ×2 + 10.31sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.34sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORweb_video_auth_proxy-37process has died [pid 8903, 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 + 10.34sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.36sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORweb_bridge_auth_proxy-36process has died [pid 8902, 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 + 10.36sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.36sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.37sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.38sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.38sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.39sINFOvideo_server-35process has finished cleanly [pid 8901] ×2 + 10.40sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.41sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.42sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.43sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.44sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.45sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.46sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.47sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.48sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.50sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.50sINFOcontroller_managerShutdown request received.... + 10.50sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.50sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.50sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.50sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.50sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.50sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.50sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.50sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.50sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.50sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.50sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.50sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.50sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.50sINFOcontroller_managerShutting down the controller manager. + 10.51sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.52sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.53sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.55sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.55sERRORmove_group-23process has died [pid 8864, 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_xb0wm_0k --params-file /tmp/launch_params_y8i2y7la --params-file /tmp/launch_params_tatyelnz --params-file /tmp/launch_params_ndx88two --params-file /tmp/launch_params_we8y2go8 --params-file /tmp/launch_params_j3xzwgy1']. ×2 + 10.56sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.56sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.57sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.58sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.58sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.59sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.59sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.59sINFOmap_serverDeactivating + 10.59sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.60sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.60sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.60sINFOcontroller_serverDeactivating + 10.60sINFOlocal_costmap.local_costmapDeactivating + 10.60sINFOvideo_server2026/09/18 13:20:05 INF shutting down gracefully ×2 + 10.60sINFOvideo_server2026/09/18 13:20:05 INF [WebRTC] closing ×2 + 10.60sINFOvideo_server2026/09/18 13:20:05 INF [RTSP] closing ×2 + 10.60sINFOvideo_server2026/09/18 13:20:05 INF waiting for running hooks ×2 + 10.60sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOmap_serverCleaning up + 10.60sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.60sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.60sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.60sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.61sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.61sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.61sERRORmove_groupStack trace (most recent call last) in thread 9501: ×2 + 10.61sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.61sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.61sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.61sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.61sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.61sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7639bf5a63, in __clone ×2 + 10.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7639b68aa3, in ×2 + 10.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7639dfadb3, in ×2 + 10.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f763a55eb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.61sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f763a18c620, in rclcpp::Rate::sleep() ×2 + 10.61sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f763a0ced18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.61sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f763a090087, in ×2 + 10.61sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7639dc9390, in __cxa_throw ×2 + 10.61sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7639db3a54, in std::terminate() ×2 + 10.61sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7639dc90d9, in ×2 + 10.61sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7639db3ff4, in ×2 + 10.61sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7639af48fe, in abort ×2 + 10.61sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7639b1127d, in raise ×2 + 10.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7639b6ab2c, in pthread_kill ×2 + 10.61sERRORmove_groupAborted (Signal sent by tkill() 8864 0) ×2 + 10.61sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.61sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.61sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 10.61sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.61sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.61sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.61sINFOodom_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 + 10.61sINFOodom_qos_relay.pymain() ×2 + 10.61sINFOodom_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 + 10.61sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.61sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.61sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.61sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.61sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.61sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.61sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.62sERRORamclThe bond connection to the lifecycle manager has been broken + 10.63sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.64sINFOcontroller_serverCleaning up + 10.64sINFOlocal_costmap.local_costmapCleaning up + 10.69sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.69sINFOsmoother_serverDeactivating + 10.69sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.70sINFOsmoother_serverCleaning up + 10.71sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.71sINFOplanner_serverDeactivating + 10.71sINFOglobal_costmap.global_costmapDeactivating + 10.72sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.72sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.77sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.77sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.77sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.77sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.77sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.77sINFOvelocity_smootherDeactivating + 10.77sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.90sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.90sINFOwaypoint_followerDeactivating + 10.90sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.91sWARNros2_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 ×2 + 11.02sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.02sINFObt_navigatorDeactivating + 11.02sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.13sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.13sINFObehavior_serverDeactivating + 11.13sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.14sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.14sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.15sINFOplanner_serverCleaning up + 11.17sINFOglobal_costmap.global_costmapCleaning up + 11.18sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.18sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.21sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.21sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.21sINFObt_navigatorCleaning up + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.24sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.24sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.25sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.25sINFOvelocity_smootherCleaning up + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.25sINFOwaypoint_followerCleaning up + 11.28sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.29sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.30sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.30sINFObehavior_serverCleaning up + 11.36sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.36sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.36sINFObt_navigatorCompleted Cleaning up + 11.36sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.36sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.36sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.36sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.36sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.36sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.36sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.36sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.43sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8900] ×2 + 11.44sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.51sINFOui_teleop_bridge-32process has finished cleanly [pid 8898] ×2 + 11.51sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8893] ×2 + 11.51sINFOexecute_objective_bridge-31process has finished cleanly [pid 8897] ×2 + 11.51sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8892] ×2 + 11.56sINFOparameter_manager_node-24process has finished cleanly [pid 8865] ×2 + 11.57sINFOwaypoint_manager_node-25process has finished cleanly [pid 8891] ×2 + 11.57sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8833] ×2 + 11.57sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8740] ×2 + 11.58sINFOobjective_server_node[2026-09-18 13:20:06.252] [moveit_pro_license] [critical] ×2 + 11.58sINFOobjective_server_node************************************************* ×4 + 11.58sINFOobjective_server_node* MoveIt Pro License ×2 + 11.58sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.58sINFOstatic_transform_publisher-8process has finished cleanly [pid 8739] ×2 + 11.59sINFOstatic_transform_publisher-7process has finished cleanly [pid 8738] ×2 + 11.59sINFOcomponent_container_mt-30process has finished cleanly [pid 8896] ×2 + 11.60sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.60sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.60sINFOlidar_flattener.pymain() ×2 + 11.60sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.60sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.60sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.60sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.60sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.60sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.60sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.60sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.60sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.60sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.60sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.60sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.60sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.60sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.60sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.63sINFOstatic_transform_publisher-4process has finished cleanly [pid 8735] ×2 + 11.63sINFOstatic_transform_publisher-3process has finished cleanly [pid 8734] ×2 + 11.64sINFOobjective_server_node_main-28process has finished cleanly [pid 8894] ×2 + 11.64sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.65sERRORlidar_flattener.py-6process has died [pid 8737, 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_zhm2en67']. ×2 + 11.66sERRORodom_qos_relay.py-5process has died [pid 8736, 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 + 11.67sERRORcomponent_container_isolated-1process has died [pid 8732, 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_fi_xt9h2 --params-file /tmp/launch_params_1muxjzug -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.63sINFOcomponent_container_mt-29process has finished cleanly [pid 8895] ×2 + 13.01sERRORcomponent_container_isolated-2process has died [pid 8733, 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_fi_xt9h2 --params-file /tmp/launch_params_h_cuux_d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.04sINFOweb_bridge-33process has finished cleanly [pid 8899] ×2 + 13.04sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 13.25sINFOros2_control_node-11process has finished cleanly [pid 8834] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 30 errors · 63 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 0.08sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.08sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 0.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.64sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.64sINFOobjective_server_nodecaller: ×10 + 0.64sINFOobjective_server_nodetype: 0 ×10 + 0.64sINFOobjective_server_nodename: "" ×10 + 0.64sINFOobjective_server_nodeinstance_id: "" ×10 + 0.64sINFOobjective_server_node ×10 + 0.68sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 1.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 1.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 2.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737574.74418736 seconds ×3 + 4.27sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306256 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306256 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796814 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.796814 ms (missed cycles : 5).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152664 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152664 ms (missed cycles : 2).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958367 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958367 ms (missed cycles : 3).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501531 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501531 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481378 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481378 ms (missed cycles : 3).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790452 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790452 ms (missed cycles : 2).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752964 ms (missed cycles : 2). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752964 ms (missed cycles : 2).[0m ×2 + 14.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737584.92579269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585747 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585747 ms (missed cycles : 2).[0m ×2 + 15.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737585.66600060 seconds ×3 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518704 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518704 ms (missed cycles : 3).[0m ×2 + 15.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.61sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737586.26715827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.07sINFOjoint_trajectory_controllerReceived new action goal + 16.07sINFOjoint_trajectory_controllerAccepted new action goal + 16.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 16.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637891 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637891 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 18 errors · 48 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790452 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752964 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752964 ms (missed cycles : 2).[0m ×2 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.15sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.15sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.15sINFOobjective_server_nodecaller: ×10 + 2.15sINFOobjective_server_nodetype: 0 ×10 + 2.15sINFOobjective_server_nodename: "" ×10 + 2.15sINFOobjective_server_nodeinstance_id: "" ×10 + 2.15sINFOobjective_server_node ×10 + 2.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737584.92579269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585747 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585747 ms (missed cycles : 2).[0m ×2 + 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. ×9 + 2.94sERRORobjective_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 + 2.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737585.66600060 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518704 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.518704 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737586.26715827 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOjoint_trajectory_controllerReceived new action goal + 3.96sINFOjoint_trajectory_controllerAccepted new action goal + 3.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637891 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637891 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869021 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869021 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 9.31sINFOjoint_trajectory_controllerGoal reached, success! + 9.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 9.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.86sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 11.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.21sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 11.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 12.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.58sINFOmove_groupClearing octomap...[0m ×2 + 12.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.58sINFOmove_groupOctomap cleared.[0m ×2 + 12.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 12 errors · 47 warnings · 245 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737561.91783047 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.46sINFOobjective_server_nodecaller: ×8 + 3.46sINFOobjective_server_nodetype: 0 ×8 + 3.46sINFOobjective_server_nodename: "" ×8 + 3.46sINFOobjective_server_nodeinstance_id: "" ×8 + 3.46sINFOobjective_server_node ×8 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737562.49968410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.4311e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2).[0m ×2 + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 6.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 7.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 8.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 9.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 9.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 9.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.55sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 10.04sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 10.34sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 10.34sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 10.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 10.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.97sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 11.01sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 11.71sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 12.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 12.27sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.31sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 3.0s | 12 errors · 38 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 0.53sINFOjoint_trajectory_controllerGoal reached, success! + 0.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.08sINFOobjective_server_nodecaller: ×8 + 1.08sINFOobjective_server_nodetype: 0 ×8 + 1.08sINFOobjective_server_nodename: "" ×8 + 1.08sINFOobjective_server_nodeinstance_id: "" ×8 + 1.08sINFOobjective_server_node ×8 + 1.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sWARNobjective_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 + 1.87sERRORobjective_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 + 1.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737597.70413446 seconds ×3 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737598.27606058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041389 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041389 ms (missed cycles : 2).[0m ×2 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737599.13617849 seconds ×3 + 7.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497775 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497775 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856289 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856289 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 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.00sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.53sINFOobjective_server_nodecaller: ×10 + 0.53sINFOobjective_server_nodetype: 0 ×10 + 0.53sINFOobjective_server_nodename: "" ×10 + 0.53sINFOobjective_server_nodeinstance_id: "" ×10 + 0.53sINFOobjective_server_node ×10 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.57sINFOmove_groupClearing octomap...[0m ×4 + 0.57sINFOmove_groupOctomap cleared.[0m ×4 + 0.57sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.71sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.53sINFOobjective_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 + 2.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 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: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_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 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871066 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871066 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737561.91783047 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737562.49968410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.4311e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2).[0m ×2 + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 6.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787292 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148446 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811491 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737561.91783047 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336326 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737562.49968410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031546 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (2.4311e-05 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005692 ms (missed cycles : 2).[0m ×2 + 5.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.714ms + 6.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 12 errors · 29 warnings · 174 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094322 ms (missed cycles : 3).[0m ×2 + 0.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.137ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 1.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 1.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 2.63sINFOjoint_trajectory_controllerGoal reached, success! + 2.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.20sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.20sINFOobjective_server_nodecaller: ×6 + 3.20sINFOobjective_server_nodetype: 0 ×6 + 3.20sINFOobjective_server_nodename: "" ×6 + 3.20sINFOobjective_server_nodeinstance_id: "" ×6 + 3.20sINFOobjective_server_node ×6 + 3.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.69sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 3.99sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 4.00sERRORobjective_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. ×6 + 4.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 5.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 5.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.93sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 5.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 1.59sINFOjoint_trajectory_controllerGoal reached, success! + 1.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.16sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 2.95sWARNobjective_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 + 2.95sERRORobjective_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. ×9 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 1.59sINFOjoint_trajectory_controllerGoal reached, success! + 1.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.16sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 2.95sWARNobjective_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 + 2.95sERRORobjective_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. ×9 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 1.59sINFOjoint_trajectory_controllerGoal reached, success! + 1.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.16sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 2.95sWARNobjective_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 + 2.95sERRORobjective_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. ×9 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 1.59sINFOjoint_trajectory_controllerGoal reached, success! + 1.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.16sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 2.95sWARNobjective_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 + 2.95sERRORobjective_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. ×9 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 errors · 32 warnings · 224 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145611 ms (missed cycles : 2).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 0.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.170ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147462 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 1.59sINFOjoint_trajectory_controllerGoal reached, success! + 1.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737567.99979782 seconds ×3 + 1.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842312 ms (missed cycles : 2).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.138ms + 2.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.16sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.16sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 2.16sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.16sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.16sINFOobjective_server_nodecaller: ×8 + 2.16sINFOobjective_server_nodetype: 0 ×8 + 2.16sINFOobjective_server_nodename: "" ×8 + 2.16sINFOobjective_server_nodeinstance_id: "" ×8 + 2.16sINFOobjective_server_node ×8 + 2.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737568.58760786 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 2.95sWARNobjective_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 + 2.95sERRORobjective_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. ×9 + 2.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 4.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 4.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.88sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 errors · 35 warnings · 215 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 0.31sWARNobjective_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 + 0.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.94sINFOobjective_server_nodecaller: ×8 + 0.94sINFOobjective_server_nodetype: 0 ×8 + 0.94sINFOobjective_server_nodename: "" ×8 + 0.94sINFOobjective_server_nodeinstance_id: "" ×8 + 0.94sINFOobjective_server_node ×8 + 0.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 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 ×12 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 1.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.28sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 4.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737574.74418736 seconds ×3 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 errors · 35 warnings · 215 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 0.31sWARNobjective_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 + 0.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.94sINFOobjective_server_nodecaller: ×8 + 0.94sINFOobjective_server_nodetype: 0 ×8 + 0.94sINFOobjective_server_nodename: "" ×8 + 0.94sINFOobjective_server_nodeinstance_id: "" ×8 + 0.94sINFOobjective_server_node ×8 + 0.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 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 ×12 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 1.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.28sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 4.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737574.74418736 seconds ×3 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 errors · 35 warnings · 215 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 0.01sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.630ms + 0.31sWARNobjective_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 + 0.32sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737569.33778191 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118861 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.94sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.94sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.94sINFOobjective_server_nodecaller: ×8 + 0.94sINFOobjective_server_nodetype: 0 ×8 + 0.94sINFOobjective_server_nodename: "" ×8 + 0.94sINFOobjective_server_nodeinstance_id: "" ×8 + 0.94sINFOobjective_server_node ×8 + 0.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737570.00158525 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 ×12 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613810 ms (missed cycles : 4).[0m ×2 + 1.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737570.70173240 seconds ×3 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.28sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737571.30389214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787284 ms (missed cycles : 3).[0m ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737572.02404618 seconds ×3 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.62sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737572.63748789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710527 ms (missed cycles : 2).[0m ×2 + 4.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737573.35764241 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885965 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.96sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737573.97399974 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737574.74418736 seconds ×3 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615955 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 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 3.501299 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501299 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432536 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.28sINFOobjective_server_nodecaller: ×6 + 3.28sINFOobjective_server_nodetype: 0 ×6 + 3.28sINFOobjective_server_nodename: "" ×6 + 3.28sINFOobjective_server_nodeinstance_id: "" ×6 + 3.28sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNobjective_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 + 4.07sERRORobjective_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 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 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 3.919700 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 5.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 5.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 5.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.00sINFOmove_groupClearing octomap...[0m ×2 + 6.00sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.00sINFOmove_groupOctomap cleared.[0m ×2 + 6.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 12 errors · 29 warnings · 218 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545720 ms (missed cycles : 4).[0m ×2 + 0.53sINFOjoint_trajectory_controllerGoal reached, success! + 0.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.54sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737592.04728436 seconds ×3 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.55sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749584 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.08sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.08sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.08sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.08sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.08sINFOobjective_server_nodecaller: ×8 + 1.08sINFOobjective_server_nodetype: 0 ×8 + 1.08sINFOobjective_server_nodename: "" ×8 + 1.08sINFOobjective_server_nodeinstance_id: "" ×8 + 1.08sINFOobjective_server_node ×8 + 1.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737592.62221098 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.86sWARNobjective_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 + 1.87sERRORobjective_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 + 1.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737593.37237239 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129242 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737593.98567772 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919700 ms (missed cycles : 3).[0m ×2 + 3.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737594.68586135 seconds ×3 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737595.29400110 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.81sINFOmove_groupClearing octomap...[0m ×2 + 3.81sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.81sINFOmove_groupOctomap cleared.[0m ×2 + 3.81sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851743 ms (missed cycles : 2).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411738 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737597.70413446 seconds ×3 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235584 ms (missed cycles : 2).[0m ×2 + 6.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737598.27606058 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.1s | 76 errors · 511 warnings · 2531 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/2026-09-18-13-16-18-775084-595d2187d35f-7565 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 5.08sINFOros2_control_node-11process started with pid [7717] + 5.08sINFOmove_group-23process started with pid [7731] + 5.08sINFOparameter_manager_node-24process started with pid [7732] + 5.08sINFOwaypoint_manager_node-25process started with pid [7770] + 5.08sINFOmove_joint_resampler_node-26process started with pid [7771] + 5.08sINFOmove_end_effector_resampler_node-27process started with pid [7776] + 5.08sINFOobjective_server_node_main-28process started with pid [7777] + 5.08sINFOcomponent_container_mt-29process started with pid [7778] + 5.08sINFOcomponent_container_mt-30process started with pid [7779] + 5.08sINFOexecute_objective_bridge-31process started with pid [7782] + 5.08sINFOui_teleop_bridge-32process started with pid [7785] + 5.08sINFOweb_bridge-33process started with pid [7788] + 5.08sINFOtf2_web_republisher_node-34process started with pid [7791] + 5.08sINFOvideo_server-35process started with pid [7792] + 5.08sINFOweb_bridge_auth_proxy-36process started with pid [7795] + 5.08sINFOweb_video_auth_proxy-37process started with pid [7796] + 5.09sINFOcomponent_container_isolated-1process started with pid [7615] + 5.09sINFOcomponent_container_isolated-2process started with pid [7616] + 5.09sINFOstatic_transform_publisher-3process started with pid [7617] + 5.09sINFOstatic_transform_publisher-4process started with pid [7618] + 5.09sINFOodom_qos_relay.py-5process started with pid [7619] + 5.09sINFOlidar_flattener.py-6process started with pid [7620] + 5.09sINFOstatic_transform_publisher-7process started with pid [7621] + 5.09sINFOstatic_transform_publisher-8process started with pid [7622] + 5.09sINFOscan_to_scan_filter_chain-9process started with pid [7623] + 5.09sINFOscan_to_scan_filter_chain-10process started with pid [7716] + 5.09sINFOros2-12process started with pid [7718] + 5.09sINFOros2-13process started with pid [7719] + 5.09sINFOros2-14process started with pid [7720] + 5.09sINFOros2-15process started with pid [7721] + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 5.13sINFOros2-16process started with pid [7722] + 5.13sINFOros2-17process started with pid [7723] + 5.13sINFOros2-18process started with pid [7724] + 5.13sINFOros2-19process started with pid [7725] + 5.13sINFOros2-20process started with pid [7728] + 5.13sINFOros2-21process started with pid [7729] + 5.13sINFOros2-22process started with pid [7730] + 5.15sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 5.15sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 5.15sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 5.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 5.15sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 5.15sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 5.15sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 5.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 5.15sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 5.15sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 5.15sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 5.15sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.16sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.19sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.19sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.19sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.19sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.20sWARNros2_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 + 5.27sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.31sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.31sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.40sINFOvideo_server2026/09/18 13:16:25 INF MediaMTX v1.20.1, linux, amd64 + 5.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.42sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.43sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.43sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.43sINFOvideo_server2026/09/18 13:16:25 INF configuration loaded from /tmp/moveit-webrtc-uznb3_ru/mediamtx.yml + 5.43sINFOvideo_server2026/09/18 13:16:25 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.43sINFOvideo_server2026/09/18 13:16:25 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.44sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.48sINFOparameter_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 + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578358 ms (missed cycles : 2).[0m + 5.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.72sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.72sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.78sWARNscan_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 '/waypoint_follower' in container '/nav2_container' ×3 + 5.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.92sINFOmove_groupLoaded robot model in 0.403713 seconds[0m + 5.92sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.92sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 5.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 6.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.54sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.54sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.55sWARNmove_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 + 6.74sINFOwaypoint_manager_nodeLoaded robot model in 0.286748 seconds[0m + 6.74sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.74sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.87sINFOmove_group[2026-09-18 13:16:27.238] [moveit_pro_license] [info] + 6.87sINFOmove_group************************************************* ×6 + 6.87sINFOmove_group* MoveIt Pro License ×3 + 6.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.06sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 7.06sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.09sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 7.09sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595928 ms (missed cycles : 5).[0m + 7.27sINFOwaypoint_manager_node[2026-09-18 13:16:27.638] [moveit_pro_license] [info] + 7.27sINFOwaypoint_manager_node************************************************* ×6 + 7.27sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.27sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.37sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.37sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.37sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.38sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.38sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.38sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.38sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.39sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.39sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.40sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.40sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.74sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.74sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.75sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.90sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.90sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.90sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.91sWARNros2_control_node19 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 7.91sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.91sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.91sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.91sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.91sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.91sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.91sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.91sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.91sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.91sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.91sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.91sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.93sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 7.93sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 7.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 7.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 7.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 7.98sINFOros2_control_nodeconfigure successful[0m ×9 + 7.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 7.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 7.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 8.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 8.16sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 8.16sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×3 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.20sINFOobjective_server_node[2026-09-18 13:16:28.569] [moveit_pro_license] [info] + 8.20sINFOobjective_server_node************************************************* ×8 + 8.20sINFOobjective_server_node* MoveIt Pro License ×4 + 8.20sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736907 ms (missed cycles : 2).[0m + 8.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.29sINFOobjective_server_nodeLoaded robot model in 0.0418434 seconds[0m + 8.29sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.29sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.30sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.30sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.31sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.31sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.31sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.32sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.32sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.32sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×3 + 8.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 8.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 8.33sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 8.39sINFOros2-12process has finished cleanly [pid 7718] + 8.40sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 8.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 8.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 8.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 8.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 8.43sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×3 + 8.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.69sWARNobjective_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 + 8.69sWARNobjective_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 + 8.69sWARNobjective_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 + 8.69sWARNobjective_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 + 8.70sWARNobjective_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 + 8.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.70sWARNobjective_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 + 8.70sWARNobjective_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 + 8.70sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×3 + 8.70sWARNobjective_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 + 8.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.70sWARNobjective_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 + 8.70sWARNobjective_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 + 8.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 8.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 8.76sINFOros2-14process has finished cleanly [pid 7720] + 8.78sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 8.78sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.80sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.80sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.82sINFOcomponent_container_mtLoaded robot model in 0.39164 seconds[0m + 8.82sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 8.82sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.90sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 8.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 8.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 9.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.01sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.06sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014674 ms (missed cycles : 2).[0m + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.26sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.27sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 9.31sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.31sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.36sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.36sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.36sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.45sINFOros2_control_node[2026-09-18 13:16:29.824] [info] Controller state will be published at 20 Hz. + 9.45sINFOros2_control_node[2026-09-18 13:16:29.825] [info] JointVelocityController 'on_configure' succeeded. + 9.46sINFOmove_group ×12 + 9.46sINFOmove_group******************************************************** ×6 + 9.46sINFOmove_group* MoveGroup using: ×3 + 9.46sINFOmove_group* - apply_planning_scene_service ×3 + 9.47sINFOmove_group* - clear_octomap_service ×3 + 9.47sINFOmove_group* - get_group_urdf ×3 + 9.47sINFOmove_group* - load_geometry_from_file ×3 + 9.47sINFOmove_group* - get_planning_scene_service ×3 + 9.47sINFOmove_group* - kinematics_service ×3 + 9.47sINFOmove_group* - save_geometry_to_file ×3 + 9.47sINFOmove_group* - GetPlanningGroups ×3 + 9.47sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.47sINFOmove_group[0m ×3 + 9.47sINFOmove_group[92mYou can start planning now![0m ×3 + 9.54sINFOcomponent_container_mt[2026-09-18 13:16:29.909] [moveit_pro_license] [info] + 9.54sINFOcomponent_container_mt************************************************* ×6 + 9.54sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 9.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 9.76sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 9.79sINFOros2-21process has finished cleanly [pid 7729] + 9.83sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 9.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 9.84sWARNros2_control_nodeCamera render tick took 0.89 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 9.85sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 9.87sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.88sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.90sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 9.91sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 9.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 9.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.16sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 10.16sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 10.17sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 10.19sINFOros2-15process has finished cleanly [pid 7721] + 10.21sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 10.22sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 10.22sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 10.23sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226144 ms (missed cycles : 2).[0m + 10.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m + 10.52sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 10.52sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 10.52sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 10.55sINFOros2-13process has finished cleanly [pid 7719] + 10.57sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 10.57sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 10.94sINFOros2_control_node[2026-09-18 13:16:31.310] [info] Controller state will be published at 20 Hz. + 10.94sINFOros2_control_node[2026-09-18 13:16:31.311] [info] JointVelocityController 'on_configure' succeeded. + 11.22sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 11.25sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 11.25sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 11.27sINFOros2-22process has finished cleanly [pid 7730] + 11.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314154 ms (missed cycles : 4).[0m + 11.32sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 11.39sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 11.39sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 11.76sINFOros2_control_node[2026-09-18 13:16:32.129] [warning] No force/torque sensor configured. The VFC will ignore force references. + 11.76sINFOros2_control_node[2026-09-18 13:16:32.133] [info] Controller state will be published at 10 Hz. + 11.76sINFOros2_control_node[2026-09-18 13:16:32.134] [info] VelocityForceController 'on_configure' succeeded. + 12.10sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 12.10sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 12.10sINFOros2-20process has finished cleanly [pid 7728] + 12.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 12.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 12.16sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 12.17sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 12.17sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 12.17sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 12.18sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513430 ms (missed cycles : 2).[0m + 12.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 12.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 12.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 12.51sINFOros2-16process has finished cleanly [pid 7722] + 12.58sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 12.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 12.58sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 12.58sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 12.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 12.58sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 12.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 12.59sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 12.89sINFOros2-18process has finished cleanly [pid 7724] + 12.90sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 12.90sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 12.90sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 12.95sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 12.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 13.28sINFOros2_control_node[2026-09-18 13:16:33.654] [warning] No force/torque sensor configured. The VFC will ignore force references. + 13.28sINFOros2_control_node[2026-09-18 13:16:33.656] [info] Controller state will be published at 10 Hz. + 13.28sINFOros2_control_node[2026-09-18 13:16:33.657] [info] VelocityForceController 'on_configure' succeeded. + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870669 ms (missed cycles : 3).[0m + 13.61sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 13.61sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 13.61sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qlxhm0r2 --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_mlhjp20l --params-file /tmp/launch_params_sbolcf1_ [0m + 13.64sINFOros2-19process has finished cleanly [pid 7725] + 13.67sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 13.67sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 13.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.86sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.02sINFOros2-17process has finished cleanly [pid 7723] + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828602 ms (missed cycles : 4).[0m + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.668992 ms (missed cycles : 4).[0m + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240842 ms (missed cycles : 2).[0m + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274447 ms (missed cycles : 2).[0m + 17.95sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997178 ms (missed cycles : 3).[0m + 18.99sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.99sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.99sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.99sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.99sINFOobjective_server_nodecaller: ×27 + 18.99sINFOobjective_server_nodetype: 0 ×27 + 18.99sINFOobjective_server_nodename: "" ×27 + 18.99sINFOobjective_server_nodeinstance_id: "" ×27 + 18.99sINFOobjective_server_node ×27 + 19.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737399.40007424 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.03sINFOmove_groupClearing octomap...[0m ×7 + 19.03sINFOmove_groupOctomap cleared.[0m ×7 + 19.03sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737399.41028571 seconds + 19.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737399.98345780 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737399.99356580 seconds + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668738 ms (missed cycles : 2).[0m + 20.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737400.57459021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737400.72516966 seconds + 20.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737401.32336640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.96sINFOobjective_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 + 20.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 21.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737401.37349248 seconds + 21.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488088 ms (missed cycles : 3).[0m + 21.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737401.95569348 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326870 ms (missed cycles : 3).[0m + 22.65sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.94sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.94sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054024 ms (missed cycles : 2).[0m + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011506 ms (missed cycles : 2).[0m + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253074 ms (missed cycles : 2).[0m + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.097490 ms (missed cycles : 2).[0m + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202444 ms (missed cycles : 2).[0m + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782856 ms (missed cycles : 2).[0m + 29.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277184 ms (missed cycles : 2).[0m + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787615 ms (missed cycles : 2).[0m + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098582 ms (missed cycles : 2).[0m + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771272 ms (missed cycles : 3).[0m + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363447 ms (missed cycles : 2).[0m + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968076 ms (missed cycles : 2).[0m + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137987 ms (missed cycles : 2).[0m + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456582 ms (missed cycles : 3).[0m + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081929 ms (missed cycles : 2).[0m + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050701 ms (missed cycles : 4).[0m + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980326 ms (missed cycles : 4).[0m + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382488 ms (missed cycles : 3).[0m + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113361 ms (missed cycles : 4).[0m + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045746 ms (missed cycles : 4).[0m + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323597 ms (missed cycles : 2).[0m + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310101 ms (missed cycles : 2).[0m + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.082764 ms (missed cycles : 4).[0m + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532238 ms (missed cycles : 3).[0m + 49.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484559 ms (missed cycles : 3).[0m + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810250 ms (missed cycles : 2).[0m + 51.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216512 ms (missed cycles : 2).[0m + 52.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111610 ms (missed cycles : 4).[0m + 53.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894968 ms (missed cycles : 2).[0m + 54.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206516 ms (missed cycles : 2).[0m + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405883 ms (missed cycles : 3).[0m + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623223 ms (missed cycles : 3).[0m + 58.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375182 ms (missed cycles : 3).[0m + 59.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995546 ms (missed cycles : 2).[0m + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.321843 ms (missed cycles : 4).[0m + 61.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726430 ms (missed cycles : 2).[0m + 62.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688964 ms (missed cycles : 2).[0m + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673428 ms (missed cycles : 2).[0m + 64.58sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737444.97757077 seconds + 64.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671763 ms (missed cycles : 3).[0m + 65.14sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.19sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737445.55779767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337963 ms (missed cycles : 3).[0m + 66.24sINFOobjective_server_nodeFound path in 0 iterations (2.4614e-05 s). + 66.32sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121214 ms (missed cycles : 2).[0m + 67.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070514 ms (missed cycles : 3).[0m + 68.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751186 ms (missed cycles : 4).[0m + 70.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001581 ms (missed cycles : 3).[0m + 70.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737451.08792949 seconds + 71.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259519 ms (missed cycles : 3).[0m + 71.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737451.66535211 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 72.06sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 72.07sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 72.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737452.44557714 seconds + 72.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475910 ms (missed cycles : 3).[0m + 72.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 72.73sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.76sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737453.13469768 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122224 ms (missed cycles : 5).[0m + 73.55sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737453.92484355 seconds + 74.11sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 74.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737454.52956867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877819 ms (missed cycles : 2).[0m + 74.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737455.23975754 seconds + 75.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882403 ms (missed cycles : 3).[0m + 75.46sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.50sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737455.87313604 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737456.61330843 seconds + 76.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723206 ms (missed cycles : 2).[0m + 76.81sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.87sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737457.23969507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 77.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759907 ms (missed cycles : 5).[0m + 77.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737457.97985363 seconds + 78.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790986 ms (missed cycles : 2).[0m + 79.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990555 ms (missed cycles : 2).[0m + 80.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431153 ms (missed cycles : 4).[0m + 81.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484841 ms (missed cycles : 3).[0m + 83.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575083 ms (missed cycles : 4).[0m + 84.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109548 ms (missed cycles : 4).[0m + 85.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312697 ms (missed cycles : 2).[0m + 86.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090080 ms (missed cycles : 3).[0m + 87.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668685 ms (missed cycles : 2).[0m + 87.84sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737468.26083803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313911 ms (missed cycles : 3).[0m + 88.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737469.00099778 seconds + 89.19sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 89.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361289 ms (missed cycles : 3).[0m + 89.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737469.60751438 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 90.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735511 ms (missed cycles : 2).[0m + 91.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.525445 ms (missed cycles : 4).[0m + 92.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500505 ms (missed cycles : 3).[0m + 93.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650370 ms (missed cycles : 3).[0m + 94.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952693 ms (missed cycles : 2).[0m + 94.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737475.35766006 seconds + 95.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 95.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737475.94077754 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555805 ms (missed cycles : 3).[0m + 96.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737476.69104648 seconds + 96.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165139 ms (missed cycles : 2).[0m + 96.88sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737477.30400634 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737478.06418037 seconds + 97.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836418 ms (missed cycles : 3).[0m + 98.25sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 98.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737478.66735554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993219 ms (missed cycles : 3).[0m + 99.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393890 ms (missed cycles : 2).[0m +101.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815194 ms (missed cycles : 2).[0m +101.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737481.41748118 seconds +101.10sWARNros2_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 +101.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737482.00537324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +102.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255993 ms (missed cycles : 2).[0m +102.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737482.82550883 seconds +102.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +103.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804695 ms (missed cycles : 2).[0m +104.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052462 ms (missed cycles : 2).[0m +105.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647224 ms (missed cycles : 2).[0m +106.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598924 ms (missed cycles : 4).[0m +107.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307105 ms (missed cycles : 2).[0m +108.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026155 ms (missed cycles : 2).[0m +108.37sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.37sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.38sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +108.39sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.39sERRORweb_video_auth_proxy-37process has died [pid 7796, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +108.39sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.39sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.40sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +108.40sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.40sERRORweb_bridge_auth_proxy-36process has died [pid 7795, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +108.41sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.41sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.42sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +108.43sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +108.44sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +108.45sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +108.46sINFOvideo_server-35process has finished cleanly [pid 7792] +108.46sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +108.47sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +108.48sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +108.50sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +108.51sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +108.52sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +108.53sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +108.54sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +108.55sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +108.56sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +108.56sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +108.57sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +108.59sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +108.60sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +108.61sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +108.62sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +108.62sERRORmove_group-23process has died [pid 7731, 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_t5uigljn --params-file /tmp/launch_params_cqgqk7sb --params-file /tmp/launch_params_qx7wiefk --params-file /tmp/launch_params_f384iuon --params-file /tmp/launch_params_e1sq1y0t --params-file /tmp/launch_params_im5nq7cp']. +108.63sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +108.64sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +108.65sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +108.66sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +108.67sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.68sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.68sINFOvideo_server2026/09/18 13:18:08 INF shutting down gracefully +108.68sINFOvideo_server2026/09/18 13:18:08 INF [WebRTC] closing +108.68sINFOvideo_server2026/09/18 13:18:08 INF [RTSP] closing +108.68sINFOvideo_server2026/09/18 13:18:08 INF waiting for running hooks +108.68sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.68sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOcomponent_container_mtStopping planning scene monitor[0m +108.68sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.68sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.68sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.68sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.68sERRORmove_groupStack trace (most recent call last) in thread 8385: +108.68sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.68sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15f6d98a63, in __clone +108.68sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15f6d0baa3, in +108.68sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15f6f9ddb3, in +108.68sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f15f7701b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.68sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f15f732f620, in rclcpp::Rate::sleep() +108.68sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f15f7271d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.68sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f15f7233087, in +108.68sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15f6f6c390, in __cxa_throw +108.68sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.68sINFOros2_control_nodeShutdown request received....[0m +108.68sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.68sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.68sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.68sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.69sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.69sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.69sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.69sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.69sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.69sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.69sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.69sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.69sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.69sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.69sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.69sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.69sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.69sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.69sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.69sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.69sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.69sINFOros2_control_nodeShutting down the controller manager.[0m +108.69sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +108.69sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 +108.69sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15f6f56a54, in std::terminate() +108.69sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15f6f6c0d9, in +108.69sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f15f6f56ff4, in +108.69sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15f6c978fe, in abort +108.69sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15f6cb427d, in raise +108.69sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f15f6d0db2c, in pthread_kill +108.69sERRORmove_groupAborted (Signal sent by tkill() 7731 0) +108.69sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.69sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.69sERRORodom_qos_relay.pyTraceback (most recent call last): +108.69sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> +108.69sINFOodom_qos_relay.pymain() +108.69sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main +108.69sINFOodom_qos_relay.pyrclpy.spin(node) +108.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.69sINFOodom_qos_relay.pyexecutor.spin_once() +108.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.69sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.69sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.69sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.69sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.69sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.69sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.69sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.69sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.79sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.79sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +108.89sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m +109.50sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7791] +109.50sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +109.57sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7776] +109.59sINFOui_teleop_bridge-32process has finished cleanly [pid 7785] +109.59sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7771] +109.59sINFOexecute_objective_bridge-31process has finished cleanly [pid 7782] +109.63sINFOparameter_manager_node-24process has finished cleanly [pid 7732] +109.64sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7716] +109.64sINFOwaypoint_manager_node-25process has finished cleanly [pid 7770] +109.64sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7623] +109.65sINFOstatic_transform_publisher-8process has finished cleanly [pid 7622] +109.66sINFOcomponent_container_mt-30process has finished cleanly [pid 7779] +109.66sINFOstatic_transform_publisher-7process has finished cleanly [pid 7621] +109.66sINFOobjective_server_node[2026-09-18 13:18:10.035] [moveit_pro_license] [critical] +109.66sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 +109.67sERRORlidar_flattener.pyTraceback (most recent call last): +109.67sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +109.67sINFOlidar_flattener.pymain() +109.67sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +109.67sINFOlidar_flattener.pyrclpy.spin(node) +109.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +109.67sINFOlidar_flattener.pyexecutor.spin_once() +109.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +109.67sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +109.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +109.67sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +109.67sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +109.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +109.68sINFOlidar_flattener.pyreturn next(self._cb_iter) +109.68sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +109.68sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +109.68sINFOlidar_flattener.pyraise ExternalShutdownException() +109.68sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.69sINFOstatic_transform_publisher-4process has finished cleanly [pid 7618] +109.70sINFOstatic_transform_publisher-3process has finished cleanly [pid 7617] +109.72sERRORlidar_flattener.py-6process has died [pid 7620, 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_0fmgvtmz']. +109.72sINFOobjective_server_node_main-28process has finished cleanly [pid 7777] +109.73sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +109.74sERRORodom_qos_relay.py-5process has died [pid 7619, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +109.79sERRORcomponent_container_isolated-1process has died [pid 7615, 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_f1nc8yyv --params-file /tmp/launch_params_0fusmade -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.01sERRORcomponent_container_isolated-2process has died [pid 7616, 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_f1nc8yyv --params-file /tmp/launch_params_6sod6mh_ -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.69sINFOcomponent_container_mt-29process has finished cleanly [pid 7778] +111.22sINFOweb_bridge-33process has finished cleanly [pid 7788] +111.22sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +111.31sINFOros2_control_node-11process has finished cleanly [pid 7717] +116.83sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-13-18-15-599801-595d2187d35f-8682 ×2 +121.59sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' +121.59sINFOstatic_tf_lidar_rear_rosSpinning until stopped - publishing transform
translation: ('-0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '0.382683', '0.923880')
from 'ridgeback_base_link' to 'lidar_rear_ROS' +121.59sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' +121.60sINFOstatic_tf_lidar_front_rosSpinning until stopped - publishing transform
translation: ('0.450000', '0.000000', '0.150000')
rotation: ('0.000000', '0.000000', '-0.923880', '0.382683')
from 'ridgeback_base_link' to 'lidar_front_ROS' +121.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +121.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.64sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.65sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +121.67sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +121.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +121.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +121.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.74sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.74sINFOmap_serverCreating +121.79sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +121.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +121.82sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.82sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.87sINFOros2_control_node-11process started with pid [8834] ×2 +121.87sINFOmove_group-23process started with pid [8864] ×2 +121.87sINFOparameter_manager_node-24process started with pid [8865] ×2 +121.87sINFOwaypoint_manager_node-25process started with pid [8891] ×2 +121.87sINFOmove_joint_resampler_node-26process started with pid [8892] ×2 +121.87sINFOmove_end_effector_resampler_node-27process started with pid [8893] ×2 +121.87sINFOobjective_server_node_main-28process started with pid [8894] ×2 +121.87sINFOcomponent_container_mt-29process started with pid [8895] ×2 +121.87sINFOcomponent_container_mt-30process started with pid [8896] ×2 +121.87sINFOexecute_objective_bridge-31process started with pid [8897] ×2 +121.87sINFOui_teleop_bridge-32process started with pid [8898] ×2 +121.87sINFOweb_bridge-33process started with pid [8899] ×2 +121.87sINFOtf2_web_republisher_node-34process started with pid [8900] ×2 +121.87sINFOvideo_server-35process started with pid [8901] ×2 +121.87sINFOweb_bridge_auth_proxy-36process started with pid [8902] ×2 +121.87sINFOweb_video_auth_proxy-37process started with pid [8903] ×2 +121.87sINFOcomponent_container_isolated-1process started with pid [8732] ×2 +121.87sINFOcomponent_container_isolated-2process started with pid [8733] ×2 +121.87sINFOstatic_transform_publisher-3process started with pid [8734] ×2 +121.87sINFOstatic_transform_publisher-4process started with pid [8735] ×2 +121.87sINFOodom_qos_relay.py-5process started with pid [8736] ×2 +121.87sINFOlidar_flattener.py-6process started with pid [8737] ×2 +121.87sINFOstatic_transform_publisher-7process started with pid [8738] ×2 +121.87sINFOstatic_transform_publisher-8process started with pid [8739] ×2 +121.87sINFOscan_to_scan_filter_chain-9process started with pid [8740] ×2 +121.87sINFOscan_to_scan_filter_chain-10process started with pid [8833] ×2 +121.87sINFOros2-12process started with pid [8835] ×2 +121.87sINFOros2-13process started with pid [8836] ×2 +121.87sINFOros2-14process started with pid [8837] ×2 +121.87sINFOros2-15process started with pid [8838] ×2 +121.87sINFOros2-16process started with pid [8839] ×2 +121.87sINFOros2-17process started with pid [8840] ×2 +121.87sINFOros2-18process started with pid [8841] ×2 +121.87sINFOros2-19process started with pid [8846] ×2 +121.87sINFOros2-20process started with pid [8847] ×2 +121.87sINFOros2-21process started with pid [8848] ×2 +121.87sINFOros2-22process started with pid [8863] ×2 +121.88sINFOcontroller_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. +121.90sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.90sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.90sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.92sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +121.92sINFOlifecycle_manager_localizationCreating +121.96sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.98sINFOcontroller_serverCreating controller server +121.98sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +121.98sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +121.98sINFOmap_serverConfiguring +121.98sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +122.00sINFOcontroller_managerupdate rate is 600 Hz +122.00sINFOcontroller_managerOverruns handling is : enabled +122.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +122.00sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. +122.00sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.01sINFOlocal_costmap.local_costmapCreating Costmap +122.03sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +122.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +122.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +122.05sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +122.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +122.06sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +122.06sINFOamclConfiguring +122.07sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +122.07sINFOmap_serverActivating +122.07sINFOmap_serverCreating bond (map_server) to lifecycle manager. +122.08sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.10sINFOsmoother_serverCreating smoother server +122.12sINFOcontroller_managerReceived robot description from topic. +122.12sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +122.13sINFOrobot_state_publisherRobot initialized +122.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +122.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +122.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959284 ms (missed cycles : 4). +122.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959284 ms (missed cycles : 4).[0m ×2 +122.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +122.18sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +122.19sINFOlifecycle_manager_localizationServer map_server connected with bond. +122.19sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +122.19sINFOamclActivating +122.19sINFOamclSubscribed to initial_pose_topic: /initialpose +122.19sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +122.19sINFOamclSubscribed to map_topic: /map +122.19sINFOamclSubscribed to scan_topic: /scan_merged +122.20sINFOamclCreated reinitialize_global_localization service +122.20sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.20sINFOamclCreated request_nomotion_update service +122.20sINFOamclA new map was received +122.21sINFOamclInitializing particle filter instance +122.23sINFOplanner_serverCreating +122.23sINFOvideo_server2026/09/18 13:18:22 INF MediaMTX v1.20.1, linux, amd64 ×2 +122.23sINFOvideo_server2026/09/18 13:18:22 INF configuration loaded from /tmp/moveit-webrtc-6rtd6xhd/mediamtx.yml ×2 +122.23sINFOvideo_server2026/09/18 13:18:22 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +122.23sINFOvideo_server2026/09/18 13:18:22 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +122.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +122.28sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.28sINFOglobal_costmap.global_costmapCreating Costmap +122.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +122.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +122.36sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +122.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +122.43sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +122.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +122.44sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +122.49sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.50sINFObt_navigatorCreating +122.51sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +122.52sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.52sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.57sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.58sINFOwaypoint_followerCreating +122.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +122.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.62sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +122.65sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +122.66sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.71sINFOlifecycle_manager_navigationCreating +122.71sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. +122.76sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.83sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +122.83sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +122.83sINFOcontroller_serverConfiguring controller interface +122.83sINFOcontroller_servergetting progress checker plugins.. +122.83sINFOcontroller_servergetting goal checker plugins.. +122.83sINFOcontroller_serverController frequency set to 20.0000Hz +122.83sINFOlocal_costmap.local_costmapConfiguring +122.84sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +122.86sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +122.88sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +122.88sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +122.88sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +122.88sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.492104 seconds +122.88sINFOmove_groupLoaded robot model in 0.492104 seconds[0m ×2 +122.88sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +122.88sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +122.89sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +122.93sINFOamclParticle filter initialization completed +122.93sINFOamclInitializing particles from estimated pose and covariance +122.93sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +122.93sINFOamclThe bond connection to the lifecycle manager is now fully formed +122.93sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +122.94sINFOlifecycle_manager_localizationServer amcl connected with bond. +122.94sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +122.94sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +122.94sINFOcontroller_serverController Server has progress_checker progress checkers available. +122.94sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +122.96sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +122.96sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +122.98sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +122.99sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +122.99sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +122.99sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +122.99sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +123.00sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +123.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +123.00sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +123.00sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +123.02sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +123.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +123.02sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +123.02sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +123.02sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +123.02sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +123.02sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +123.03sINFOcontroller_serverOptimizer reset ×2 +123.05sINFOcontroller_serverController Server has FollowPath controllers available. +123.06sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +123.06sINFOsmoother_serverConfiguring smoother server +123.07sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +123.08sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +123.09sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +123.09sINFOplanner_serverConfiguring +123.09sINFOglobal_costmap.global_costmapConfiguring +123.10sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +123.11sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +123.12sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +123.12sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +123.13sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +123.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.871058 ms (missed cycles : 7). +123.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.871058 ms (missed cycles : 7).[0m ×2 +123.19sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +123.19sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +123.19sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +123.23sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +123.23sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +123.23sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +123.25sINFOplanner_serverPlanner Server has GridBased planners available. +123.29sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +123.29sINFObehavior_serverConfiguring +123.31sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +123.31sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +123.32sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +123.32sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +123.33sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +123.34sINFObehavior_serverConfiguring spin +123.35sINFObehavior_serverConfiguring backup +123.36sINFObehavior_serverConfiguring drive_on_heading +123.37sINFObehavior_serverConfiguring assisted_teleop +123.39sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +123.39sINFObehavior_serverConfiguring wait +123.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.39sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.40sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.40sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +123.40sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.40sINFObt_navigatorConfiguring +123.40sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.40sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.41sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.41sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +123.42sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +123.43sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code
Make sure these match your BT and there are not other sources of error codes youreported to your application +123.56sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +123.56sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +123.56sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +123.60sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +123.60sINFOwaypoint_followerConfiguring +123.62sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +123.62sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +123.62sINFOvelocity_smootherConfiguring velocity smoother +123.62sINFOwaypoint_manager_nodeLoaded robot model in 0.372026 seconds[0m ×2 +123.63sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +123.63sINFOcontroller_serverActivating +123.63sINFOlocal_costmap.local_costmapActivating +123.63sINFOlocal_costmap.local_costmapChecking transform +123.63sINFOlocal_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. ×14 +123.76sINFOmove_group[2026-09-18 13:18:24.133] [moveit_pro_license] [info] ×2 +124.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.07sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.08sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.09sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.10sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.26sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +124.26sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +124.26sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +124.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +124.26sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +124.26sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +124.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +124.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +124.26sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +124.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +124.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +124.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695799 ms (missed cycles : 2). +124.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695799 ms (missed cycles : 2).[0m ×2 +124.28sINFOwaypoint_manager_node[2026-09-18 13:18:24.657] [moveit_pro_license] [info] ×2 +124.48sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +124.48sINFOcontroller_managerActivating component 'ur_mujoco_control'. +124.48sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +124.48sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +124.64sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +124.64sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +124.64sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +124.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +124.71sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +124.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +124.72sINFOplatform_velocity_controller_nav2configure successful +125.04sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +125.04sINFOcontroller_managerLoading controller 'vacuum_gripper' +125.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +125.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +125.07sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +125.08sINFOros2-17process has finished cleanly [pid 8840] ×2 +125.10sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +125.10sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +125.10sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +125.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +125.11sINFOcontroller_managerSuccessfully switched controllers! ×20 +125.11sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +125.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.27sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +125.27sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +125.27sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +125.27sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +125.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +125.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +125.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +125.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +125.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +125.28sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +125.28sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) +125.29sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +125.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799754 ms (missed cycles : 2). +125.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799754 ms (missed cycles : 2).[0m ×2 +125.40sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +125.40sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +125.43sINFOros2-16process has finished cleanly [pid 8839] ×2 +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.48sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.51sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +125.51sINFOobjective_server_node[2026-09-18 13:18:25.884] [moveit_pro_license] [info] ×2 +125.52sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.52sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +125.54sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +125.55sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +125.57sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +125.57sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +125.59sINFOobjective_server_nodeLoaded robot model in 0.0329068 seconds[0m ×2 +125.63sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +125.63sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +125.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.76sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +125.76sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.11sINFOcomponent_container_mtLoaded robot model in 0.412954 seconds[0m ×2 +126.22sINFOmove_groupMoveGroup debug mode is ON +126.24sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +126.27sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.27sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +126.33sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +126.33sWARNobjective_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. +126.33sWARNobjective_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. +126.33sWARNobjective_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. +126.33sWARNobjective_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. +126.33sWARNobjective_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. +126.33sWARNobjective_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. +126.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805712 ms (missed cycles : 2). +126.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805712 ms (missed cycles : 2).[0m ×2 +126.33sWARNobjective_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. +126.33sWARNobjective_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. +126.34sWARNobjective_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. +126.34sWARNobjective_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. +126.38sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+126.41sINFOros2_control_node[2026-09-18 13:18:26.780] [info] Controller state will be published at 20 Hz. ×2 +126.41sINFOros2_control_node[2026-09-18 13:18:26.781] [info] JointVelocityController 'on_configure' succeeded. ×2 +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +126.70sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +126.71sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +126.71sINFOcontroller_managerLoading controller 'joint_velocity_controller' +126.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +126.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +126.72sINFOcomponent_container_mt[2026-09-18 13:18:27.087] [moveit_pro_license] [info] ×2 +126.76sINFOros2-22process has finished cleanly [pid 8863] ×2 +126.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +126.77sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +126.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 +127.13sINFOros2_control_node[2026-09-18 13:18:27.499] [info] Controller state will be published at 20 Hz. ×2 +127.13sINFOros2_control_node[2026-09-18 13:18:27.500] [info] JointVelocityController 'on_configure' succeeded. ×2 +127.29sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789737505.997 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +127.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529654 ms (missed cycles : 4). +127.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.529654 ms (missed cycles : 4).[0m ×2 +127.43sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +127.43sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +127.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +127.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +127.46sINFOros2-21process has finished cleanly [pid 8848] ×2 +127.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +127.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +127.49sINFOforce_torque_sensor_broadcasterconfigure successful +127.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +127.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +127.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +127.82sINFOcontroller_managerLoading controller 'velocity_force_controller' +127.86sINFOros2-12process has finished cleanly [pid 8835] ×2 +127.90sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +127.90sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +127.95sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +127.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +128.24sINFOros2_control_node[2026-09-18 13:18:28.616] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +128.25sINFOros2_control_node[2026-09-18 13:18:28.618] [info] Controller state will be published at 10 Hz. ×2 +128.25sINFOros2_control_node[2026-09-18 13:18:28.619] [info] VelocityForceController 'on_configure' succeeded. ×2 +128.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105094 ms (missed cycles : 2). +128.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105094 ms (missed cycles : 2).[0m ×2 +128.54sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +128.54sINFOcontroller_managerLoading controller 'platform_velocity_controller' +128.54sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +128.55sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +128.58sINFOros2-19process has finished cleanly [pid 8846] ×2 +128.61sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +128.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +128.62sINFOplatform_velocity_controllerconfigure successful +128.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +128.63sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +128.96sINFOros2-15process has finished cleanly [pid 8838] ×2 +129.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +129.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +129.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +129.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +129.11sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +129.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +129.11sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +129.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +129.12sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +129.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +129.12sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +129.44sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +129.44sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +129.44sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +129.44sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +129.45sINFOros2-18process has finished cleanly [pid 8841] ×2 +129.49sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +129.49sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +129.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263073 ms (missed cycles : 2). +129.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263073 ms (missed cycles : 2).[0m ×2 +129.81sINFOros2_control_node[2026-09-18 13:18:30.185] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +129.82sINFOros2_control_node[2026-09-18 13:18:30.187] [info] Controller state will be published at 10 Hz. ×2 +129.82sINFOros2_control_node[2026-09-18 13:18:30.188] [info] VelocityForceController 'on_configure' succeeded. ×2 +129.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789737508.705 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +130.14sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +130.14sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +130.14sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +130.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +130.15sINFOros2-20process has finished cleanly [pid 8847] ×2 +130.19sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +130.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +130.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +130.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +130.21sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +130.54sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +130.54sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +130.54sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby +130.54sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_d9yszybf --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__zexxgw2 --params-file /tmp/launch_params_w76nrhby [0m ×2 +130.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313811 ms (missed cycles : 5). +130.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.313811 ms (missed cycles : 5).[0m ×2 +130.57sINFOros2-14process has finished cleanly [pid 8837] ×2 +130.60sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +130.60sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +130.61sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +130.62sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +130.63sINFOlocal_costmap.local_costmapstart +130.73sWARNcontroller_serverParameter controller_server.verbose not found +130.73sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +130.77sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 5.047ms +130.79sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +130.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +130.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.84sINFOlifecycle_manager_navigationServer controller_server connected with bond. +130.84sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +130.84sINFOsmoother_serverActivating +130.84sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +130.94sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +130.94sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +130.94sINFOplanner_serverActivating +130.94sINFOglobal_costmap.global_costmapActivating +130.94sINFOglobal_costmap.global_costmapChecking transform +130.94sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789737511.287426, but only time 1789737511.619828 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +130.96sINFOros2-13process has finished cleanly [pid 8836] ×2 +131.44sINFOglobal_costmap.global_costmapstart +131.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485970 ms (missed cycles : 2). +131.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485970 ms (missed cycles : 2).[0m ×2 +131.97sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789737511.599 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +132.49sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +132.49sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +132.60sINFOlifecycle_manager_navigationServer planner_server connected with bond. +132.60sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +132.60sINFObehavior_serverActivating +132.60sINFObehavior_serverActivating spin +132.60sINFObehavior_serverActivating backup +132.60sINFObehavior_serverActivating drive_on_heading +132.60sINFObehavior_serverActivating assisted_teleop +132.60sINFObehavior_serverActivating wait +132.60sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +132.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383403 ms (missed cycles : 3). +132.70sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +132.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383403 ms (missed cycles : 3).[0m ×2 +132.70sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +132.70sINFObt_navigatorActivating +132.76sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +132.86sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +132.86sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +132.86sINFOwaypoint_followerActivating +132.86sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +132.97sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +132.97sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +132.97sINFOvelocity_smootherActivating +132.97sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +133.07sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +133.07sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +133.07sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +133.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). +133.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 +134.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). +134.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 +135.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+135.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +135.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +135.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +135.93sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +135.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 +135.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). +135.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 +136.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+136.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.53sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 +137.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). +137.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 +137.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 +137.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+137.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +137.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +137.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 +138.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). +138.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 +138.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+138.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +138.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +138.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +139.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). +139.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.12sINFOobjective_server_nodecaller: ×10 + 2.12sINFOobjective_server_nodetype: 0 ×10 + 2.12sINFOobjective_server_nodename: "" ×10 + 2.12sINFOobjective_server_nodeinstance_id: "" ×10 + 2.12sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.16sINFOmove_groupClearing octomap...[0m ×4 + 2.16sINFOmove_groupOctomap cleared.[0m ×4 + 2.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 347 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.10sINFObehavior_serverActivating + 0.10sINFObehavior_serverActivating spin + 0.10sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383403 ms (missed cycles : 3). + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383403 ms (missed cycles : 3).[0m ×2 + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 2.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.39sINFOobjective_server_nodecaller: ×10 + 3.39sINFOobjective_server_nodetype: 0 ×10 + 3.39sINFOobjective_server_nodename: "" ×10 + 3.39sINFOobjective_server_nodeinstance_id: "" ×10 + 3.39sINFOobjective_server_node ×10 + 3.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.43sINFOmove_groupClearing octomap...[0m ×4 + 3.43sINFOmove_groupOctomap cleared.[0m ×4 + 3.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_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 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.39sINFOjoint_trajectory_controllerReceived new action goal + 7.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.39sINFOjoint_trajectory_controllerAccepted new action goal + 7.39sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 338 info |
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.10sINFObehavior_serverActivating + 0.10sINFObehavior_serverActivating spin + 0.10sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383403 ms (missed cycles : 3). + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383403 ms (missed cycles : 3).[0m ×2 + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 2.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.86sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.39sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.39sINFOobjective_server_nodecaller: ×10 + 3.39sINFOobjective_server_nodetype: 0 ×10 + 3.39sINFOobjective_server_nodename: "" ×10 + 3.39sINFOobjective_server_nodeinstance_id: "" ×10 + 3.39sINFOobjective_server_node ×10 + 3.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.43sINFOmove_groupClearing octomap...[0m ×4 + 3.43sINFOmove_groupOctomap cleared.[0m ×4 + 3.43sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.43sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOobjective_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 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.98sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 324 info |
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 2.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.81sINFOobjective_server_nodecaller: ×10 + 2.81sINFOobjective_server_nodetype: 0 ×10 + 2.81sINFOobjective_server_nodename: "" ×10 + 2.81sINFOobjective_server_nodeinstance_id: "" ×10 + 2.81sINFOobjective_server_node ×10 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.85sINFOmove_groupClearing octomap...[0m ×4 + 2.86sINFOmove_groupOctomap cleared.[0m ×4 + 2.86sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.86sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.40sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869983 ms (missed cycles : 2).[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.58sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.59sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.12sINFOobjective_server_nodecaller: ×10 + 2.12sINFOobjective_server_nodetype: 0 ×10 + 2.12sINFOobjective_server_nodename: "" ×10 + 2.12sINFOobjective_server_nodeinstance_id: "" ×10 + 2.12sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.16sINFOmove_groupClearing octomap...[0m ×4 + 2.16sINFOmove_groupOctomap cleared.[0m ×4 + 2.16sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.16sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.12sINFOjoint_trajectory_controllerAccepted new action goal + 6.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871066 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871066 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception8 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | generate_calibration_waypoints.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 321 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336042 ms (missed cycles : 2).[0m ×2 + 0.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.36sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.36sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.36sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.36sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.36sINFOobjective_server_nodecaller: ×10 + 1.36sINFOobjective_server_nodetype: 0 ×10 + 1.36sINFOobjective_server_nodename: "" ×10 + 1.36sINFOobjective_server_nodeinstance_id: "" ×10 + 1.36sINFOobjective_server_node ×10 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737516.29687834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.40sINFOmove_groupClearing octomap...[0m ×4 + 1.41sINFOmove_groupOctomap cleared.[0m ×4 + 1.41sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.41sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737516.30704904 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.486186 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737516.89147091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737516.90158153 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219694 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737517.49066806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737517.64125037 seconds ×3 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737518.24710011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737518.29723287 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334097 ms (missed cycles : 3).[0m ×2 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737518.88951802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134083 ms (missed cycles : 2).[0m ×2 + 5.07sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.36sINFOjoint_trajectory_controllerReceived new action goal + 5.36sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.36sINFOjoint_trajectory_controllerAccepted new action goal + 5.36sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356374 ms (missed cycles : 3).[0m ×2 | ||||