MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

6.3s

Avg test time

61%

Objective pass rate

Show INFO/DEBUG

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

7 fail6 pass24 skip

✕ failed	Move to Look at Plane	move_to_look_at_plane.xml	1.4s	30 errors · 36 warnings · 276 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 0.21sINFOjoint_trajectory_controllerGoal reached, success! + 0.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 0.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 0.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.81sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.82sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 0.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 1.51sWARNobjective_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 + 1.52sERRORobjective_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 + 1.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 1.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 2.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 4.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 4.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 4.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 5.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 6.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.21sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 6.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789738074.58217072 seconds ×3 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2).[0m ×2
✕ failed	Move to Arm Upright	move_to_arm_upright.xml	1.3s	24 errors · 36 warnings · 279 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 1.42sINFOjoint_trajectory_controllerGoal reached, success! + 1.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.99sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.99sINFOobjective_server_nodecaller: ×10 + 1.99sINFOobjective_server_nodetype: 0 ×10 + 1.99sINFOobjective_server_nodename: "" ×10 + 1.99sINFOobjective_server_nodeinstance_id: "" ×10 + 1.99sINFOobjective_server_node ×10 + 2.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 2.72sWARNobjective_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 + 2.73sERRORobjective_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 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 6.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 7.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.42sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 7.46sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 7.72sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
✕ failed	Solution - Generate coverage path	solution_generate_coverage_path.xml	1.3s	12 errors · 30 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3).[0m ×2
✕ failed	Solution - Move Forward 2m	solution_move_forward_2m.xml	1.3s	12 errors · 27 warnings · 218 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 0.89sINFOjoint_trajectory_controllerGoal reached, success! + 0.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.89sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 0.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.43sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.43sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 1.43sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.43sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.43sINFOobjective_server_nodecaller: ×8 + 1.43sINFOobjective_server_nodetype: 0 ×8 + 1.43sINFOobjective_server_nodename: "" ×8 + 1.43sINFOobjective_server_nodeinstance_id: "" ×8 + 1.43sINFOobjective_server_node ×8 + 1.47sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.19sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 2.20sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 2.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.76sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 3.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.08sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 4.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.13sINFOmove_groupClearing octomap...[0m ×2 + 4.13sINFOmove_groupOctomap cleared.[0m ×2 + 4.14sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 4.14sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3).[0m ×2 + 6.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738097.52240753 seconds ×3 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3).[0m ×2 + 7.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.14sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738098.10232902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✕ failed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	1.3s	18 errors · 33 warnings · 227 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.25sINFOobjective_server_nodeinstance_id: "" ×8 + 3.25sINFOobjective_server_node ×8 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 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: 1789738069.14504123 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 6.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 7.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 7.38sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 7.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 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 2.607133 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607133 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622824 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622824 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920505 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920505 ms (missed cycles : 3).[0m ×2 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571722 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571722 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789738084.75979853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sWARNobjective_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. ×3 + 3.87sERRORobjective_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. ×3 + 3.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789738085.44997907 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290292 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290292 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 4.48sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789738086.06854153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134750 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134750 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427489 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427489 ms (missed cycles : 3).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2
✕ failed	Plan Path Along Surface	plan_path_along_surface.xml	1.3s	30 errors · 37 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.66sINFOobjective_server_nodecaller: ×8 + 0.66sINFOobjective_server_nodetype: 0 ×8 + 0.66sINFOobjective_server_nodename: "" ×8 + 0.66sINFOobjective_server_nodeinstance_id: "" ×8 + 0.66sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 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 2.273607 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 5.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789738074.58217072 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944142 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944142 ms (missed cycles : 3).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170994 ms (missed cycles : 3).
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	148 warnings · 395 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.73sINFOobjective_server_nodecaller: ×12 + 0.73sINFOobjective_server_nodetype: 0 ×12 + 0.73sINFOobjective_server_nodename: "" ×12 + 0.73sINFOobjective_server_nodeinstance_id: "" ×12 + 0.73sINFOobjective_server_node ×12 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495434 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495434 ms (missed cycles : 3).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433117 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433117 ms (missed cycles : 3).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672381 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672381 ms (missed cycles : 3).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415898 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415898 ms (missed cycles : 2).[0m ×2 + 9.74sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433106 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433106 ms (missed cycles : 2).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733480 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733480 ms (missed cycles : 2).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328024 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328024 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049113 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049113 ms (missed cycles : 3).[0m ×2 + 14.04sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 4.333ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323815 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323815 ms (missed cycles : 2).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963253 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963253 ms (missed cycles : 3).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023456 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023456 ms (missed cycles : 2).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339178 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339178 ms (missed cycles : 2).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683691 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683691 ms (missed cycles : 2).[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251203 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251203 ms (missed cycles : 2).[0m ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630824 ms (missed cycles : 3). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630824 ms (missed cycles : 3).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301044 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301044 ms (missed cycles : 2).[0m ×2 + 23.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724219 ms (missed cycles : 2). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724219 ms (missed cycles : 2).[0m ×2 + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316279 ms (missed cycles : 2). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316279 ms (missed cycles : 2).[0m ×2 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913527 ms (missed cycles : 3). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913527 ms (missed cycles : 3).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.843ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724605 ms (missed cycles : 2). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724605 ms (missed cycles : 2).[0m ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767971 ms (missed cycles : 2). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767971 ms (missed cycles : 2).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442394 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442394 ms (missed cycles : 3).[0m ×2 + 29.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405055 ms (missed cycles : 3). + 29.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405055 ms (missed cycles : 3).[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410451 ms (missed cycles : 3). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410451 ms (missed cycles : 3).[0m ×2 + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201854 ms (missed cycles : 2). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201854 ms (missed cycles : 2).[0m ×2 + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558990 ms (missed cycles : 2). + 32.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558990 ms (missed cycles : 2).[0m ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126939 ms (missed cycles : 4). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126939 ms (missed cycles : 4).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110340 ms (missed cycles : 3). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110340 ms (missed cycles : 3).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577236 ms (missed cycles : 3). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577236 ms (missed cycles : 3).[0m ×2 + 37.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224040 ms (missed cycles : 2). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224040 ms (missed cycles : 2).[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010994 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010994 ms (missed cycles : 2).[0m ×2 + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808103 ms (missed cycles : 2). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808103 ms (missed cycles : 2).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009124 ms (missed cycles : 3). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009124 ms (missed cycles : 3).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272673 ms (missed cycles : 4). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.272673 ms (missed cycles : 4).[0m ×2 + 42.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085741 ms (missed cycles : 3). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085741 ms (missed cycles : 3).[0m ×2 + 43.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054351 ms (missed cycles : 2). + 43.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054351 ms (missed cycles : 2).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4).[0m ×2 + 45.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2). + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2).[0m ×2 + 46.33sINFOjoint_trajectory_controllerGoal reached, success! + 46.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789738061.74731517 seconds ×3 + 46.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3). + 46.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3).[0m ×2 + 46.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.92sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789738062.32837677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3).[0m ×2 + 48.04sINFOobjective_server_nodeFound path in 0 iterations (3.5507e-05 s). ×2 + 48.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3).[0m ×2 + 49.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 49.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	108 errors · 33 warnings · 504 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 0.10sWARNobjective_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 + 0.11sERRORobjective_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 + 0.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 0.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 0.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.68sINFOobjective_server_nodecaller: ×4 + 0.68sINFOobjective_server_nodetype: 0 ×4 + 0.68sINFOobjective_server_nodename: "" ×4 + 0.68sINFOobjective_server_nodeinstance_id: "" ×4 + 0.68sINFOobjective_server_node ×4 + 0.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.72sINFOmove_groupClearing octomap...[0m ×2 + 0.72sINFOmove_groupOctomap cleared.[0m ×2 + 0.73sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 0.73sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738097.52240753 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738098.10232902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513069 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513069 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789738098.80246043 seconds ×3 + 4.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580665 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580665 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185211 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185211 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905641 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905641 ms (missed cycles : 4).[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645215 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.645215 ms (missed cycles : 4).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342498 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342498 ms (missed cycles : 4).[0m ×2 + 10.52sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.55sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORweb_video_auth_proxy-37process has died [pid 8953, 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 + 10.55sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.56sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORweb_bridge_auth_proxy-36process has died [pid 8948, 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 + 10.56sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.57sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.58sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.59sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.60sINFOvideo_server-35process has finished cleanly [pid 8947] ×2 + 10.60sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.61sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.62sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.63sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.64sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.65sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.66sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.67sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.68sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.69sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.69sINFOcontroller_managerShutdown request received.... + 10.69sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.69sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.70sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.70sINFOcontroller_managerShutting down the controller manager. + 10.70sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.72sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.73sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.73sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.74sERRORmove_group-23process has died [pid 8882, 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_vnrim_mh --params-file /tmp/launch_params_dnionx7j --params-file /tmp/launch_params_pihmgyj5 --params-file /tmp/launch_params_vvonr6th --params-file /tmp/launch_params_36uasufl --params-file /tmp/launch_params_65cp5cn0']. ×2 + 10.74sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.75sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.75sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.76sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.77sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.78sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.78sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.78sINFOmap_serverDeactivating + 10.78sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.78sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.78sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.78sINFOcontroller_serverDeactivating + 10.78sINFOlocal_costmap.local_costmapDeactivating + 10.78sINFOvideo_server2026/09/18 13:28:24 INF shutting down gracefully ×2 + 10.79sINFOvideo_server2026/09/18 13:28:24 INF [WebRTC] closing ×2 + 10.79sINFOvideo_server2026/09/18 13:28:24 INF [RTSP] closing ×2 + 10.79sINFOvideo_server2026/09/18 13:28:24 INF waiting for running hooks ×2 + 10.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.79sINFOmap_serverCleaning up + 10.79sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.79sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.79sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.79sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.79sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.79sERRORmove_groupStack trace (most recent call last) in thread 9519: ×2 + 10.79sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.79sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4cf956ca63, in __clone ×2 + 10.79sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4cf94dfaa3, in ×2 + 10.79sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4cf9771db3, in ×2 + 10.79sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f4cf9ed5b54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.79sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4cf9b03620, in rclcpp::Rate::sleep() ×2 + 10.79sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4cf9a45d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.79sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4cf9a07087, in ×2 + 10.79sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4cf9740390, in __cxa_throw ×2 + 10.79sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4cf972aa54, in std::terminate() ×2 + 10.79sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4cf97400d9, in ×2 + 10.79sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.79sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.79sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.79sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.79sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4cf972aff4, in ×2 + 10.79sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4cf946b8fe, in abort ×2 + 10.79sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4cf948827d, in raise ×2 + 10.79sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f4cf94e1b2c, in pthread_kill ×2 + 10.79sERRORmove_groupAborted (Signal sent by tkill() 8882 0) ×2 + 10.79sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.79sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.79sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.79sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.79sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.79sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.79sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.79sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.80sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.80sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.80sINFOodom_qos_relay.pymain() ×2 + 10.80sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.80sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.80sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.80sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.80sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.80sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.80sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.80sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.80sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.80sERRORamclThe bond connection to the lifecycle manager has been broken + 10.83sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.84sINFOcontroller_serverCleaning up + 10.84sINFOlocal_costmap.local_costmapCleaning up + 10.88sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.88sINFOsmoother_serverDeactivating + 10.88sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.89sINFOsmoother_serverCleaning up + 10.91sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.91sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.91sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.91sINFOplanner_serverDeactivating + 10.91sINFOglobal_costmap.global_costmapDeactivating + 10.91sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.00sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.00sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.00sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.00sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.00sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.00sINFOvelocity_smootherDeactivating + 11.00sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.11sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.11sINFOwaypoint_followerDeactivating + 11.11sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.23sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.23sINFObt_navigatorDeactivating + 11.23sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.34sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.34sINFObehavior_serverDeactivating + 11.34sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.45sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.45sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.45sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.46sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.46sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.46sINFOvelocity_smootherCleaning up + 11.46sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.46sINFOwaypoint_followerCleaning up + 11.49sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.49sINFObt_navigatorCleaning up + 11.55sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.55sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.56sINFOplanner_serverCleaning up + 11.57sINFOglobal_costmap.global_costmapCleaning up + 11.58sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.58sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.62sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.62sINFObehavior_serverCleaning up + 11.62sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.62sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.62sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.62sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.64sINFOtf2_web_republisher_node-34process has finished cleanly [pid 8946] ×2 + 11.64sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.67sINFObt_navigatorCompleted Cleaning up + 11.67sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.70sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 8931] ×2 + 11.71sINFOmove_joint_resampler_node-26process has finished cleanly [pid 8928] ×2 + 11.72sINFOui_teleop_bridge-32process has finished cleanly [pid 8940] ×2 + 11.72sINFOexecute_objective_bridge-31process has finished cleanly [pid 8939] ×2 + 11.73sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.73sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.73sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.73sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.73sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.75sINFOparameter_manager_node-24process has finished cleanly [pid 8883] ×2 + 11.76sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 8852] ×2 + 11.76sINFOwaypoint_manager_node-25process has finished cleanly [pid 8927] ×2 + 11.77sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 8759] ×2 + 11.77sINFOstatic_transform_publisher-8process has finished cleanly [pid 8758] ×2 + 11.78sINFOstatic_transform_publisher-7process has finished cleanly [pid 8757] ×2 + 11.79sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.79sINFOlidar_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 + 11.79sINFOlidar_flattener.pymain() ×2 + 11.79sINFOlidar_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 + 11.79sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.79sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.79sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.79sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.79sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.79sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.79sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.79sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.79sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.79sINFOcomponent_container_mt-30process has finished cleanly [pid 8938] ×2 + 11.81sINFOstatic_transform_publisher-4process has finished cleanly [pid 8754] ×2 + 11.81sINFOstatic_transform_publisher-3process has finished cleanly [pid 8753] ×2 + 11.82sINFOobjective_server_node[2026-09-18 13:28:26.153] [moveit_pro_license] [info] ×2 + 11.82sINFOobjective_server_node************************************************* ×4 + 11.82sINFOobjective_server_node* MoveIt Pro License ×2 + 11.82sINFOobjective_server_node* Application has successfully terminated ×2 + 11.83sERRORlidar_flattener.py-6process has died [pid 8756, 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_mybb_0hj']. ×2 + 11.85sERRORodom_qos_relay.py-5process has died [pid 8755, 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 + 11.87sINFOobjective_server_node_main-28process has finished cleanly [pid 8932] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 12.00sERRORcomponent_container_isolated-1process has died [pid 8751, 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_nj5hhqze --params-file /tmp/launch_params_6gdjoeqz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.12sERRORcomponent_container_isolated-2process has died [pid 8752, 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_nj5hhqze --params-file /tmp/launch_params_r519ke9b -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.82sINFOcomponent_container_mt-29process has finished cleanly [pid 8937] ×2 + 13.42sINFOros2_control_node-11process has finished cleanly [pid 8853] ×2 + 13.58sINFOweb_bridge-33process has finished cleanly [pid 8943] ×2 + 13.58sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	30 errors · 66 warnings · 273 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×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 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.57sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×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 + 0.60sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×15 + 0.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 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: 1789738071.94811845 seconds ×3 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 2.03sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 2.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.33sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 3.59sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.04sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789738074.58217072 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944142 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944142 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170994 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170994 ms (missed cycles : 3).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289663 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289663 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228623 ms (missed cycles : 2). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228623 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508164 ms (missed cycles : 3). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508164 ms (missed cycles : 3).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607133 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607133 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622824 ms (missed cycles : 3). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622824 ms (missed cycles : 3).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920505 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920505 ms (missed cycles : 3).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571722 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571722 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.17sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789738084.75979853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789738085.44997907 seconds ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290292 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290292 ms (missed cycles : 2).[0m ×2 + 15.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 15.47sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 15.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789738086.06854153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOjoint_trajectory_controllerReceived new action goal + 15.92sINFOjoint_trajectory_controllerAccepted new action goal + 15.92sINFOros2_control_nodeReceived new action goal[0m ×2 + 15.92sINFOros2_control_nodeAccepted new action goal[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134750 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134750 ms (missed cycles : 3).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427489 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427489 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.3s	18 errors · 48 warnings · 280 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622824 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622824 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920505 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920505 ms (missed cycles : 3).[0m ×2 + 1.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×5 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×10 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571722 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571722 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.10sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.10sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 2.10sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.10sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.10sINFOobjective_server_nodecaller: ×10 + 2.10sINFOobjective_server_nodetype: 0 ×10 + 2.10sINFOobjective_server_nodename: "" ×10 + 2.10sINFOobjective_server_nodeinstance_id: "" ×10 + 2.10sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789738084.75979853 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.83sWARNobjective_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 + 2.84sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×9 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789738085.44997907 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290292 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290292 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789738086.06854153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOjoint_trajectory_controllerReceived new action goal + 3.85sINFOjoint_trajectory_controllerAccepted new action goal + 3.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134750 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134750 ms (missed cycles : 3).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427489 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427489 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 9.20sINFOjoint_trajectory_controllerGoal reached, success! + 9.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 9.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 9.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.74sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 11.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.08sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 11.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 11.83sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 12.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.40sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 12.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 12.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 12.44sINFOmove_groupClearing octomap...[0m ×2 + 12.44sINFOmove_groupOctomap cleared.[0m ×2 + 12.45sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 12.45sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	12 errors · 42 warnings · 245 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054351 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054351 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789738061.74731517 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.33sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.33sINFOobjective_server_nodecaller: ×8 + 3.33sINFOobjective_server_nodetype: 0 ×8 + 3.33sINFOobjective_server_nodename: "" ×8 + 3.33sINFOobjective_server_nodeinstance_id: "" ×8 + 3.33sINFOobjective_server_node ×8 + 3.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789738062.32837677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.5507e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3).[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 7.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 7.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 7.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 8.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 9.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 9.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.44sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.48sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 10.17sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×6 + 10.18sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×6 + 10.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 10.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 10.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 12.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 12.15sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 12.19sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✓ passed	Take Scene Camera Snapshot	take_snap.xml	3.1s	12 errors · 33 warnings · 221 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.54sINFOobjective_server_nodecaller: ×8 + 0.54sINFOobjective_server_nodetype: 0 ×8 + 0.54sINFOobjective_server_nodename: "" ×8 + 0.54sINFOobjective_server_nodeinstance_id: "" ×8 + 0.54sINFOobjective_server_node ×8 + 0.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sWARNobjective_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 + 1.31sERRORobjective_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 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.25sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738097.52240753 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.25sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738098.10232902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513069 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513069 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789738098.80246043 seconds ×3 + 7.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580665 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580665 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185211 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185211 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495434 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495434 ms (missed cycles : 3).[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 2.054351 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054351 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789738061.74731517 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789738062.32837677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.5507e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3).[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms
− 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 2.054351 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054351 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636592 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661106 ms (missed cycles : 2).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789738061.74731517 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661695 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.33sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.33sINFOobjective_server_nodecaller: ×2 + 3.33sINFOobjective_server_nodetype: 0 ×2 + 3.33sINFOobjective_server_nodename: "" ×2 + 3.33sINFOobjective_server_nodeinstance_id: "" ×2 + 3.33sINFOobjective_server_node ×2 + 3.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789738062.32837677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892149 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (3.5507e-05 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOjoint_trajectory_controllerReceived new action goal + 4.54sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942349 ms (missed cycles : 3).[0m ×2 + 5.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.753ms + 6.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4).[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	12 errors · 24 warnings · 174 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800443 ms (missed cycles : 4).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 0.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 1.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 2.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 2.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 3.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 3.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 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: 1789738069.14504123 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.65sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 4.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.96sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 6.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	18 errors · 30 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 1.42sINFOjoint_trajectory_controllerGoal reached, success! + 1.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 2.72sWARNobjective_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 + 2.73sERRORobjective_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 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	18 errors · 30 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 1.42sINFOjoint_trajectory_controllerGoal reached, success! + 1.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 2.72sWARNobjective_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 + 2.73sERRORobjective_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 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	18 errors · 30 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 1.42sINFOjoint_trajectory_controllerGoal reached, success! + 1.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 2.72sWARNobjective_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 + 2.73sERRORobjective_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 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 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 · 30 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 1.42sINFOjoint_trajectory_controllerGoal reached, success! + 1.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 2.72sWARNobjective_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 + 2.73sERRORobjective_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 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	18 errors · 30 warnings · 224 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186450 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 0.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729154 ms (missed cycles : 2).[0m ×2 + 1.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 1.42sINFOjoint_trajectory_controllerGoal reached, success! + 1.42sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.45sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789738067.85853529 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 1.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 1.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.99sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.99sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 1.99sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.99sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.99sINFOobjective_server_nodecaller: ×8 + 1.99sINFOobjective_server_nodetype: 0 ×8 + 1.99sINFOobjective_server_nodename: "" ×8 + 1.99sINFOobjective_server_nodeinstance_id: "" ×8 + 1.99sINFOobjective_server_node ×8 + 2.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789738068.43479228 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 3.119ms + 2.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 2.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099078 ms (missed cycles : 2).[0m ×2 + 2.72sWARNobjective_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 + 2.73sERRORobjective_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 + 2.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.42sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 4.74sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 5.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 6.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.12sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 6.16sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	30 errors · 33 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.66sINFOobjective_server_nodecaller: ×8 + 0.66sINFOobjective_server_nodetype: 0 ×8 + 0.66sINFOobjective_server_nodename: "" ×8 + 0.66sINFOobjective_server_nodeinstance_id: "" ×8 + 0.66sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 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 2.273607 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 5.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789738074.58217072 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	30 errors · 33 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.66sINFOobjective_server_nodecaller: ×8 + 0.66sINFOobjective_server_nodetype: 0 ×8 + 0.66sINFOobjective_server_nodename: "" ×8 + 0.66sINFOobjective_server_nodeinstance_id: "" ×8 + 0.66sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 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 2.273607 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 5.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789738074.58217072 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	30 errors · 33 warnings · 214 info
+ 0.00sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×15 + 0.01sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×15 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789738069.14504123 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776415 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.66sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.66sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 0.66sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.66sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.66sINFOobjective_server_nodecaller: ×8 + 0.66sINFOobjective_server_nodetype: 0 ×8 + 0.66sINFOobjective_server_nodename: "" ×8 + 0.66sINFOobjective_server_nodeinstance_id: "" ×8 + 0.66sINFOobjective_server_node ×8 + 0.70sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789738069.83265257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789738070.55279088 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504934 ms (missed cycles : 4).[0m ×2 + 1.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.98sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789738071.14783597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863489 ms (missed cycles : 3).[0m ×2 + 2.81sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789738071.94811845 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.44sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789738072.57076049 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 2.273607 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273607 ms (missed cycles : 2).[0m ×2 + 4.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789738073.26092052 seconds ×3 + 4.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 4.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789738073.87200975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871657 ms (missed cycles : 3).[0m ×2 + 5.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789738074.58217072 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271029 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	12 errors · 27 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535410 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112661 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147452 ms (missed cycles : 4).[0m ×2 + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.99sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNobjective_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 + 4.30sERRORobjective_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 + 4.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.86sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 4.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 5.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 6.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 6.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 6.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 6.22sINFOmove_groupClearing octomap...[0m ×2 + 6.23sINFOmove_groupOctomap cleared.[0m ×2 + 6.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 6.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	12 errors · 24 warnings · 218 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! + 0.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789738091.81867003 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×8 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672880 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.54sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.54sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 0.54sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.54sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.54sINFOobjective_server_nodecaller: ×8 + 0.54sINFOobjective_server_nodetype: 0 ×8 + 0.54sINFOobjective_server_nodename: "" ×8 + 0.54sINFOobjective_server_nodeinstance_id: "" ×8 + 0.54sINFOobjective_server_node ×8 + 0.58sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789738092.39766550 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sWARNobjective_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 + 1.31sERRORobjective_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 + 1.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789738093.12783027 seconds ×3 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534689 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 1.92sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789738093.73497510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935521 ms (missed cycles : 2).[0m ×2 + 2.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789738094.44513083 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789738095.05228043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.24sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.25sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.25sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725994 ms (missed cycles : 3).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967244 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789738097.52240753 seconds ×3 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366743 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.25sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789738098.10232902 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 · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.7s	75 errors · 506 warnings · 2525 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/2026-09-18-13-24-38-510657-ac9abbd387ec-7586 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 4.94sINFOros2_control_node-11process started with pid [7738] + 4.94sINFOmove_group-23process started with pid [7763] + 4.94sINFOparameter_manager_node-24process started with pid [7764] + 4.94sINFOwaypoint_manager_node-25process started with pid [7784] + 4.94sINFOmove_joint_resampler_node-26process started with pid [7785] + 4.94sINFOmove_end_effector_resampler_node-27process started with pid [7787] + 4.94sINFOobjective_server_node_main-28process started with pid [7793] + 4.94sINFOcomponent_container_mt-29process started with pid [7795] + 4.94sINFOcomponent_container_mt-30process started with pid [7796] + 4.94sINFOexecute_objective_bridge-31process started with pid [7797] + 4.94sINFOui_teleop_bridge-32process started with pid [7798] + 4.94sINFOweb_bridge-33process started with pid [7799] + 4.94sINFOtf2_web_republisher_node-34process started with pid [7800] + 4.94sINFOvideo_server-35process started with pid [7803] + 4.94sINFOweb_bridge_auth_proxy-36process started with pid [7806] + 4.94sINFOweb_video_auth_proxy-37process started with pid [7807] + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 4.96sINFOcomponent_container_isolated-1process started with pid [7636] + 4.96sINFOcomponent_container_isolated-2process started with pid [7637] + 4.96sINFOstatic_transform_publisher-3process started with pid [7638] + 4.96sINFOstatic_transform_publisher-4process started with pid [7639] + 4.96sINFOodom_qos_relay.py-5process started with pid [7640] + 4.96sINFOlidar_flattener.py-6process started with pid [7641] + 4.96sINFOstatic_transform_publisher-7process started with pid [7642] + 4.96sINFOstatic_transform_publisher-8process started with pid [7643] + 4.97sINFOscan_to_scan_filter_chain-9process started with pid [7644] + 4.97sINFOscan_to_scan_filter_chain-10process started with pid [7737] + 4.97sINFOros2-12process started with pid [7739] + 4.97sINFOros2-13process started with pid [7740] + 4.97sINFOros2-14process started with pid [7741] + 4.97sINFOros2-15process started with pid [7742] + 4.97sINFOros2-16process started with pid [7743] + 4.97sINFOros2-17process started with pid [7744] + 4.97sINFOros2-18process started with pid [7745] + 4.97sINFOros2-19process started with pid [7746] + 4.97sINFOros2-20process started with pid [7747] + 4.97sINFOros2-21process started with pid [7754] + 4.97sINFOros2-22process started with pid [7762] + 4.99sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×12 + 4.99sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×12 + 4.99sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 4.99sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 4.99sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 4.99sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×3 + 4.99sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×3 + 4.99sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×3 + 4.99sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×3 + 4.99sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×3 + 4.99sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×3 + 4.99sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×3 + 5.08sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 5.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 5.12sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×3 + 5.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 5.12sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×3 + 5.13sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.13sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 5.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 5.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 5.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 5.13sWARNros2_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 + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×3 + 5.21sINFOcomponent_container_mtRobot initialized[0m ×3 + 5.22sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 5.22sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 5.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031143 ms (missed cycles : 2).[0m + 5.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 5.26sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 5.29sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 5.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 5.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 5.30sINFOvideo_server2026/09/18 13:24:45 INF MediaMTX v1.20.1, linux, amd64 + 5.30sINFOvideo_server2026/09/18 13:24:45 INF configuration loaded from /tmp/moveit-webrtc-chu02tw5/mediamtx.yml + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×3 + 5.33sINFOvideo_server2026/09/18 13:24:45 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 5.33sINFOvideo_server2026/09/18 13:24:45 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 5.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 5.34sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 5.36sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×3 + 5.36sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×3 + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 5.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 5.69sWARNscan_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 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 5.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 5.98sINFOmove_groupLoaded robot model in 0.393618 seconds[0m + 5.98sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 5.98sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.02sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 6.08sINFOwaypoint_manager_nodeLoaded robot model in 0.201408 seconds[0m + 6.08sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 6.08sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375039 ms (missed cycles : 2).[0m + 6.63sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.63sWARNmove_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 + 6.64sWARNmove_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 + 6.64sWARNmove_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.72sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.73sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.74sWARNwaypoint_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 + 6.88sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 6.88sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 6.90sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×3 + 6.90sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×3 + 6.96sINFOmove_group[2026-09-18 13:24:47.070] [moveit_pro_license] [info] + 6.96sINFOmove_group************************************************* ×6 + 6.96sINFOmove_group* MoveIt Pro License ×3 + 6.96sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.11sINFOwaypoint_manager_node[2026-09-18 13:24:47.222] [moveit_pro_license] [info] + 7.11sINFOwaypoint_manager_node************************************************* ×6 + 7.11sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 7.11sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 7.41sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 7.41sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 7.41sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 7.41sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.41sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 7.42sINFOmove_groupStopped publishing maintained planning scene.[0m ×3 + 7.42sINFOmove_groupStarting planning scene monitor[0m ×3 + 7.42sINFOmove_groupListening to '/planning_scene'[0m ×3 + 7.42sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 7.42sINFOmove_groupListening to 'collision_object'[0m ×3 + 7.42sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 7.61sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 7.61sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 7.62sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 7.69sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 7.69sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 7.69sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 7.69sWARNros2_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 + 7.69sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×3 + 7.69sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×3 + 7.69sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×3 + 7.69sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×3 + 7.69sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 7.69sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 7.69sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×3 + 7.69sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 7.69sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×3 + 7.69sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×3 + 7.69sINFOros2_control_nodeCamera 'forward_stereo_left' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.69sINFOros2_control_nodeCamera 'forward_stereo_right' is disabled by its URDF <sensor> block; it will not be rendered or published.[0m ×3 + 7.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 7.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 7.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 7.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 7.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 7.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 7.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 7.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 7.79sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 7.79sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 7.80sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192281 ms (missed cycles : 2).[0m + 7.83sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 7.83sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 7.84sINFOros2_control_nodeconfigure successful[0m ×9 + 7.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 7.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×84 + 7.84sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 7.97sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' (software), via platform device 0 (software).[0m ×3 + 7.97sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×3 + 7.97sWARNros2_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 + 8.07sINFOobjective_server_node[2026-09-18 13:24:48.177] [moveit_pro_license] [info] + 8.07sINFOobjective_server_node************************************************* ×8 + 8.07sINFOobjective_server_node* MoveIt Pro License ×4 + 8.07sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 8.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 8.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 8.15sINFOobjective_server_nodeLoaded robot model in 0.0363103 seconds[0m + 8.15sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 8.15sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 8.15sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 8.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 8.18sINFOros2-15process has finished cleanly [pid 7742] + 8.21sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 8.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 8.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 8.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 8.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 8.23sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 8.24sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×3 + 8.24sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×3 + 8.24sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 8.24sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 8.25sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 8.25sINFOcomponent_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 + 8.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 8.43sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.43sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 8.45sINFOcomponent_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 + 8.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 8.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×3 + 8.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 8.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 8.51sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.52sWARNobjective_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 + 8.59sINFOobjective_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 + 8.59sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 8.62sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 8.62sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 8.62sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 8.62sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 8.62sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 8.62sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 8.62sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 8.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×3 + 8.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 8.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 8.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 8.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 8.70sWARNcomponent_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 + 8.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×3 + 8.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.74sINFOros2-16process has finished cleanly [pid 7743] + 8.76sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 8.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 8.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 8.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 8.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 8.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 8.79sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 8.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 8.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554977 ms (missed cycles : 3).[0m + 9.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 9.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 9.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 9.16sINFOcomponent_container_mtLoaded robot model in 0.4646 seconds[0m + 9.16sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 9.16sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 9.17sINFOros2-18process has finished cleanly [pid 7745] + 9.19sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 9.20sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 9.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 9.29sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 9.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 9.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 9.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 9.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 9.42sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 9.49sINFOmove_group ×12 + 9.49sINFOmove_group******************************************************** ×6 + 9.49sINFOmove_group* MoveGroup using: ×3 + 9.49sINFOmove_group* - apply_planning_scene_service ×3 + 9.49sINFOmove_group* - clear_octomap_service ×3 + 9.49sINFOmove_group* - get_group_urdf ×3 + 9.49sINFOmove_group* - load_geometry_from_file ×3 + 9.49sINFOmove_group* - get_planning_scene_service ×3 + 9.49sINFOmove_group* - kinematics_service ×3 + 9.49sINFOmove_group* - save_geometry_to_file ×3 + 9.49sINFOmove_group* - GetPlanningGroups ×3 + 9.49sINFOmove_group* - URDFPlanningSceneCapability ×3 + 9.49sINFOmove_group[0m ×3 + 9.49sINFOmove_group[92mYou can start planning now![0m ×3 + 9.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 9.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 9.58sINFOros2-12process has finished cleanly [pid 7739] + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.61sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNros2_control_nodeCamera render tick took 0.83 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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.62sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.63sWARNcomponent_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 + 9.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 9.65sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.66sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×3 + 9.70sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 9.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 9.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 9.72sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 9.93sINFOcomponent_container_mt[2026-09-18 13:24:50.040] [moveit_pro_license] [info] + 9.93sINFOcomponent_container_mt************************************************* ×6 + 9.93sINFOcomponent_container_mt* MoveIt Pro License ×3 + 9.93sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933496 ms (missed cycles : 2).[0m + 9.94sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 10.05sINFOros2_control_node[2026-09-18 13:24:50.165] [warning] No force/torque sensor configured. The VFC will ignore force references. + 10.06sINFOros2_control_node[2026-09-18 13:24:50.168] [info] Controller state will be published at 10 Hz. + 10.06sINFOros2_control_node[2026-09-18 13:24:50.169] [info] VelocityForceController 'on_configure' succeeded. + 10.27sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 10.27sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 10.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 10.28sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 10.39sINFOros2-19process has finished cleanly [pid 7746] + 10.39sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 10.40sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 10.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 10.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 10.44sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 10.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 10.46sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 10.46sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 10.46sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 10.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 10.90sINFOros2-13process has finished cleanly [pid 7740] + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811926 ms (missed cycles : 2).[0m + 11.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 11.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 11.06sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 11.11sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 11.12sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 11.45sINFOros2_control_node[2026-09-18 13:24:51.564] [info] Controller state will be published at 20 Hz. + 11.45sINFOros2_control_node[2026-09-18 13:24:51.565] [info] JointVelocityController 'on_configure' succeeded. + 11.75sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 11.75sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 11.75sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 11.80sINFOros2-22process has finished cleanly [pid 7762] + 11.81sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 11.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092922 ms (missed cycles : 2).[0m + 12.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 12.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 12.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 12.18sINFOros2-17process has finished cleanly [pid 7744] + 12.22sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 12.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 12.52sINFOros2_control_node[2026-09-18 13:24:52.632] [info] Controller state will be published at 20 Hz. + 12.52sINFOros2_control_node[2026-09-18 13:24:52.633] [info] JointVelocityController 'on_configure' succeeded. + 12.85sINFOros2-21process has finished cleanly [pid 7754] + 12.87sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 12.87sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 12.87sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 12.92sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 12.92sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305914 ms (missed cycles : 4).[0m + 13.24sINFOros2_control_node[2026-09-18 13:24:53.349] [warning] No force/torque sensor configured. The VFC will ignore force references. + 13.24sINFOros2_control_node[2026-09-18 13:24:53.351] [info] Controller state will be published at 10 Hz. + 13.24sINFOros2_control_node[2026-09-18 13:24:53.352] [info] VelocityForceController 'on_configure' succeeded. + 13.57sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 13.57sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 13.57sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5tj9s0cd --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_muzwdfj_ --params-file /tmp/launch_params_ysixw7xu [0m + 13.59sINFOros2-20process has finished cleanly [pid 7747] + 13.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 13.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 13.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 13.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 13.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 13.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 13.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×60 + 13.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 13.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 13.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 13.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×21 + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489614 ms (missed cycles : 4).[0m + 14.08sINFOros2-14process has finished cleanly [pid 7741] + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711553 ms (missed cycles : 3).[0m + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068982 ms (missed cycles : 2).[0m + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977016 ms (missed cycles : 2).[0m + 17.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×4 + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240305 ms (missed cycles : 2).[0m + 18.95sINFOobjective_server_nodeReceived /do_objective goal: ×27 + 18.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×3 + 18.95sINFOobjective_server_nodeobjective_xml_string: "" ×27 + 18.95sINFOobjective_server_nodeparameter_overrides: [] ×27 + 18.95sINFOobjective_server_nodecaller: ×27 + 18.95sINFOobjective_server_nodetype: 0 ×27 + 18.95sINFOobjective_server_nodename: "" ×27 + 18.95sINFOobjective_server_nodeinstance_id: "" ×27 + 18.95sINFOobjective_server_node ×27 + 18.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789737899.10503626 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.00sINFOmove_groupClearing octomap...[0m ×7 + 19.00sINFOmove_groupOctomap cleared.[0m ×7 + 19.00sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×7 + 19.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789737899.11525607 seconds + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422743 ms (missed cycles : 3).[0m + 19.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×3 + 19.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789737899.69510770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 19.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789737899.70522332 seconds + 20.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×3 + 20.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789737900.27574396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124691 ms (missed cycles : 2).[0m + 20.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789737900.42631626 seconds + 20.88sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×3 + 20.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789737901.02944493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 20.93sINFOobjective_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 + 20.93sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 20.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 20.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 20.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789737901.07958817 seconds + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132293 ms (missed cycles : 2).[0m + 21.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×3 + 21.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789737901.66607070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 21.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×14 + 21.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×3 + 21.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×3 + 21.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×3 + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288758 ms (missed cycles : 3).[0m + 22.64sINFOobjective_server_nodePlanning for 177 path waypoints. + 22.98sINFOros2_control_nodeReceived new action goal[0m ×3 + 22.98sINFOros2_control_nodeAccepted new action goal[0m ×3 + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050496 ms (missed cycles : 2).[0m + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055842 ms (missed cycles : 2).[0m + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175244 ms (missed cycles : 2).[0m + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314876 ms (missed cycles : 4).[0m + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589216 ms (missed cycles : 3).[0m + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760366 ms (missed cycles : 2).[0m + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532900 ms (missed cycles : 2).[0m + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653959 ms (missed cycles : 3).[0m + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501921 ms (missed cycles : 2).[0m + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616155 ms (missed cycles : 2).[0m + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848280 ms (missed cycles : 2).[0m + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983572 ms (missed cycles : 2).[0m + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057328 ms (missed cycles : 2).[0m + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864777 ms (missed cycles : 2).[0m + 38.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893252 ms (missed cycles : 2).[0m + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856244 ms (missed cycles : 2).[0m + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802454 ms (missed cycles : 2).[0m + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.117065 ms (missed cycles : 4).[0m + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762653 ms (missed cycles : 3).[0m + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741510 ms (missed cycles : 2).[0m + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766575 ms (missed cycles : 2).[0m + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223858 ms (missed cycles : 2).[0m + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365246 ms (missed cycles : 2).[0m + 47.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710518 ms (missed cycles : 2).[0m + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154459 ms (missed cycles : 2).[0m + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475403 ms (missed cycles : 2).[0m + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183540 ms (missed cycles : 2).[0m + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356254 ms (missed cycles : 3).[0m + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196192 ms (missed cycles : 3).[0m + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673686 ms (missed cycles : 4).[0m + 55.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225897 ms (missed cycles : 2).[0m + 56.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218673 ms (missed cycles : 2).[0m + 57.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519317 ms (missed cycles : 4).[0m + 58.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985204 ms (missed cycles : 2).[0m + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977777 ms (missed cycles : 3).[0m + 60.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598655 ms (missed cycles : 4).[0m + 61.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511881 ms (missed cycles : 2).[0m + 62.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275371 ms (missed cycles : 2).[0m + 63.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728587 ms (missed cycles : 3).[0m + 64.57sINFOros2_control_nodeGoal reached, success![0m ×3 + 64.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789737944.69686627 seconds + 64.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×12 + 64.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065394 ms (missed cycles : 4).[0m + 65.13sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" + 65.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789737945.28084016 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 65.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.261319 ms (missed cycles : 2).[0m + 66.23sINFOobjective_server_nodeFound path in 0 iterations (2.2371e-05 s). + 66.30sINFOobjective_server_nodePath shortcutter: [X________________________X] + 66.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×10 + 66.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803585 ms (missed cycles : 2).[0m + 68.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026909 ms (missed cycles : 2).[0m + 69.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644548 ms (missed cycles : 3).[0m + 70.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976829 ms (missed cycles : 2).[0m + 70.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789737950.79096484 seconds + 71.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" + 71.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789737951.36891222 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051509 ms (missed cycles : 2).[0m + 71.99sWARNobjective_server_nodePlanToJointGoal Warning: The refused pose is drawn, but the padded collision geometry grew past what can be drawn with it, at link 'ham_assem_link'. Reduce the link padding the check applies, or simplify the <collision> geometry of that link or of anything attached to it. ×8 + 71.99sERRORobjective_server_nodePlanToJointGoal Error: The initial joint positions are not valid: found a self-collision involving the bodies 'ham_assem_link <-> upper_arm_link'. Colliding bodies define a padding value of 0.01 m. ×8 + 71.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Generate Grid Pattern on Airplane` did not succeed at time: 1789737952.09910107 seconds + 72.62sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" + 72.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101367 ms (missed cycles : 2).[0m + 72.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789737952.76627421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 73.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Arm Upright` did not succeed at time: 1789737953.48644590 seconds + 73.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702298 ms (missed cycles : 3).[0m + 73.94sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" + 73.98sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789737954.09438133 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Move to Look at Plane` did not succeed at time: 1789737954.78459239 seconds + 74.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718277 ms (missed cycles : 2).[0m + 75.23sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" + 75.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789737955.38474941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513918 ms (missed cycles : 3).[0m + 75.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface` did not succeed at time: 1789737956.07493329 seconds + 76.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" + 76.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789737956.68633223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 76.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373844 ms (missed cycles : 2).[0m + 77.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` did not succeed at time: 1789737957.45649862 seconds + 78.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861869 ms (missed cycles : 2).[0m + 79.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737769 ms (missed cycles : 2).[0m + 80.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128433 ms (missed cycles : 2).[0m + 81.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964911 ms (missed cycles : 3).[0m + 82.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.882150 ms (missed cycles : 4).[0m + 83.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959044 ms (missed cycles : 2).[0m + 84.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825519 ms (missed cycles : 3).[0m + 85.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266459 ms (missed cycles : 2).[0m + 86.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086279 ms (missed cycles : 2).[0m + 87.16sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" + 87.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789737967.31498313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714704 ms (missed cycles : 4).[0m + 87.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface 3 Passes` did not succeed at time: 1789737968.06517148 seconds + 88.52sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" + 88.56sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789737968.67219257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 88.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671386 ms (missed cycles : 2).[0m + 90.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037670 ms (missed cycles : 2).[0m + 91.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853803 ms (missed cycles : 2).[0m + 92.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925762 ms (missed cycles : 3).[0m + 93.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414226 ms (missed cycles : 4).[0m + 94.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325425 ms (missed cycles : 2).[0m + 94.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789737974.47232771 seconds + 94.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" + 94.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789737975.05938530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858203 ms (missed cycles : 3).[0m + 95.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Generate coverage path` did not succeed at time: 1789737975.76955318 seconds + 96.23sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" + 96.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789737976.38334703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528155 ms (missed cycles : 3).[0m + 96.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Solution - Move Forward 2m` did not succeed at time: 1789737977.07350302 seconds + 97.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532131 ms (missed cycles : 3).[0m + 97.53sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" + 97.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789737977.67731953 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 98.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234428 ms (missed cycles : 2).[0m + 99.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800429 ms (missed cycles : 4).[0m +100.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789737980.71745491 seconds +100.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431504 ms (missed cycles : 4).[0m +101.15sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" +101.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789737981.28936505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +101.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855464 ms (missed cycles : 2).[0m +101.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789737982.00949025 seconds +102.14sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +102.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264200 ms (missed cycles : 2).[0m +104.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154098 ms (missed cycles : 4).[0m +105.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969470 ms (missed cycles : 3).[0m +106.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776555 ms (missed cycles : 3).[0m +107.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457498 ms (missed cycles : 2).[0m +107.71sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.71sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.72sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.72sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.72sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.72sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.72sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] +107.73sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.73sERRORweb_video_auth_proxy-37process has died [pid 7807, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. +107.73sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.73sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.73sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] +107.74sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.74sERRORweb_bridge_auth_proxy-36process has died [pid 7806, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. +107.74sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.74sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.74sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.75sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.76sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.76sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.76sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.76sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +107.76sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] +107.77sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] +107.78sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] +107.79sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] +107.80sINFOvideo_server-35process has finished cleanly [pid 7803] +107.80sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] +107.81sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] +107.82sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] +107.83sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] +107.84sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system +107.84sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] +107.85sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] +107.86sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] +107.87sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] +107.88sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] +107.90sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] +107.91sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] +107.92sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] +107.93sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] +107.93sERRORmove_group-23process has died [pid 7763, 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_h2poza60 --params-file /tmp/launch_params_oi8gif_s --params-file /tmp/launch_params_bosedvxe --params-file /tmp/launch_params_wqwplmek --params-file /tmp/launch_params_eqmdofm3 --params-file /tmp/launch_params_cc_s5fnl']. +107.94sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] +107.95sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] +107.96sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +107.97sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +107.98sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +107.99sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +108.00sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +108.00sINFOvideo_server2026/09/18 13:26:27 INF shutting down gracefully +108.00sINFOvideo_server2026/09/18 13:26:27 INF [WebRTC] closing +108.00sINFOvideo_server2026/09/18 13:26:27 INF [RTSP] closing +108.00sINFOvideo_server2026/09/18 13:26:27 INF waiting for running hooks +108.00sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +108.00sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +108.00sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.00sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +108.00sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +108.00sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.01sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +108.01sINFOcomponent_container_mtStopping planning scene monitor[0m +108.01sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.01sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +108.01sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +108.01sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +108.01sERRORmove_groupwhat(): context cannot be slept with because it's invalid +108.01sERRORmove_groupStack trace (most recent call last) in thread 8405: +108.01sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +108.01sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f5325442a63, in __clone +108.01sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53253b5aa3, in +108.01sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5325647db3, in +108.01sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f5325dabb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +108.01sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f53259d9620, in rclcpp::Rate::sleep() +108.01sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f532591bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +108.01sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f53258dd087, in +108.01sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5325616390, in __cxa_throw +108.01sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5325600a54, in std::terminate() +108.01sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f53256160d9, in +108.01sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f5325600ff4, in +108.01sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53253418fe, in abort +108.01sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f532535e27d, in raise +108.01sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f53253b7b2c, in pthread_kill +108.01sERRORmove_groupAborted (Signal sent by tkill() 7763 0) +108.01sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +108.01sINFOros2_control_nodeShutdown request received....[0m +108.01sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +108.01sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +108.01sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +108.01sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +108.01sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +108.01sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +108.01sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +108.01sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +108.01sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +108.01sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +108.01sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +108.01sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +108.01sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +108.01sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +108.01sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +108.01sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +108.01sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +108.01sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +108.01sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +108.01sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +108.01sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +108.01sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +108.01sINFOros2_control_nodeShutting down the controller manager.[0m +108.01sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +108.01sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 +108.01sERRORodom_qos_relay.pyTraceback (most recent call last): +108.01sINFOodom_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> +108.01sINFOodom_qos_relay.pymain() +108.01sINFOodom_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 +108.01sINFOodom_qos_relay.pyrclpy.spin(node) +108.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.01sINFOodom_qos_relay.pyexecutor.spin_once() +108.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.01sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +108.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.01sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.01sINFOodom_qos_relay.pyreturn next(self._cb_iter) +108.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +108.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.01sINFOodom_qos_relay.pyraise ExternalShutdownException() +108.01sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +108.11sINFOros2_control_nodeAsync messages lost 0[0m ×2 +108.11sINFOros2_control_nodepublish_async_failures_ 1[0m +108.12sINFOros2_control_nodepublish_async_failures_ 0[0m +108.84sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7800] +108.84sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system +108.90sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7787] +108.91sINFOui_teleop_bridge-32process has finished cleanly [pid 7798] +108.91sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7785] +108.92sINFOexecute_objective_bridge-31process has finished cleanly [pid 7797] +108.95sINFOparameter_manager_node-24process has finished cleanly [pid 7764] +108.96sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7737] +108.97sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7644] +108.97sINFOwaypoint_manager_node-25process has finished cleanly [pid 7784] +108.98sINFOstatic_transform_publisher-8process has finished cleanly [pid 7643] +108.99sINFOstatic_transform_publisher-7process has finished cleanly [pid 7642] +108.99sINFOcomponent_container_mt-30process has finished cleanly [pid 7796] +108.99sERRORlidar_flattener.pyTraceback (most recent call last): +108.99sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> +108.99sINFOlidar_flattener.pymain() +108.99sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main +108.99sINFOlidar_flattener.pyrclpy.spin(node) +108.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +108.99sINFOobjective_server_node[2026-09-18 13:26:29.103] [moveit_pro_license] [info] +108.99sINFOobjective_server_node* Application has successfully terminated +108.99sINFOlidar_flattener.pyexecutor.spin_once() +108.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +108.99sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) +108.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +108.99sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( +108.99sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +108.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +108.99sINFOlidar_flattener.pyreturn next(self._cb_iter) +108.99sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ +108.99sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +108.99sINFOlidar_flattener.pyraise ExternalShutdownException() +108.99sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException +109.02sINFOstatic_transform_publisher-4process has finished cleanly [pid 7639] +109.03sINFOstatic_transform_publisher-3process has finished cleanly [pid 7638] +109.04sERRORlidar_flattener.py-6process has died [pid 7641, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py --ros-args -r __node:=lidar_flattener --params-file /tmp/launch_params_mvnfuw62']. +109.05sINFOobjective_server_node_main-28process has finished cleanly [pid 7793] +109.05sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system +109.06sINFOcomponent_container_mt-29process has finished cleanly [pid 7795] +109.06sERRORodom_qos_relay.py-5process has died [pid 7640, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. +109.40sERRORcomponent_container_isolated-1process has died [pid 7636, exit code -11, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_o_1dusu7 --params-file /tmp/launch_params_3av5aabr -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.51sERRORcomponent_container_isolated-2process has died [pid 7637, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=localization_container --params-file /tmp/launch_params_o_1dusu7 --params-file /tmp/launch_params_852egefs -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +110.62sINFOros2_control_node-11process has finished cleanly [pid 7738] +110.87sINFOweb_bridge-33process has finished cleanly [pid 7799] +110.87sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system +116.35sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-18-13-26-34-850403-ac9abbd387ec-8701 ×2 +121.04sINFOstatic_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' +121.04sINFOstatic_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' +121.04sINFOstatic_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' +121.04sINFOstatic_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' +121.08sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +121.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +121.11sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +121.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +121.25sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +121.27sINFOcontroller_managerupdate rate is 600 Hz +121.27sINFOcontroller_managerOverruns handling is : enabled +121.27sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +121.27sWARNcontroller_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. +121.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +121.27sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +121.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169885 ms (missed cycles : 5). +121.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +121.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +121.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +121.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.34sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +121.35sINFOros2_control_node-11process started with pid [8853] ×2 +121.35sINFOmove_group-23process started with pid [8882] ×2 +121.35sINFOparameter_manager_node-24process started with pid [8883] ×2 +121.35sINFOwaypoint_manager_node-25process started with pid [8927] ×2 +121.35sINFOmove_joint_resampler_node-26process started with pid [8928] ×2 +121.35sINFOmove_end_effector_resampler_node-27process started with pid [8931] ×2 +121.35sINFOobjective_server_node_main-28process started with pid [8932] ×2 +121.35sINFOcomponent_container_mt-29process started with pid [8937] ×2 +121.35sINFOcomponent_container_mt-30process started with pid [8938] ×2 +121.35sINFOexecute_objective_bridge-31process started with pid [8939] ×2 +121.35sINFOui_teleop_bridge-32process started with pid [8940] ×2 +121.35sINFOweb_bridge-33process started with pid [8943] ×2 +121.35sINFOtf2_web_republisher_node-34process started with pid [8946] ×2 +121.35sINFOvideo_server-35process started with pid [8947] ×2 +121.35sINFOweb_bridge_auth_proxy-36process started with pid [8948] ×2 +121.35sINFOweb_video_auth_proxy-37process started with pid [8953] ×2 +121.35sINFOcomponent_container_isolated-1process started with pid [8751] ×2 +121.35sINFOcomponent_container_isolated-2process started with pid [8752] ×2 +121.35sINFOstatic_transform_publisher-3process started with pid [8753] ×2 +121.35sINFOstatic_transform_publisher-4process started with pid [8754] ×2 +121.35sINFOodom_qos_relay.py-5process started with pid [8755] ×2 +121.35sINFOlidar_flattener.py-6process started with pid [8756] ×2 +121.35sINFOstatic_transform_publisher-7process started with pid [8757] ×2 +121.35sINFOstatic_transform_publisher-8process started with pid [8758] ×2 +121.35sINFOscan_to_scan_filter_chain-9process started with pid [8759] ×2 +121.35sINFOscan_to_scan_filter_chain-10process started with pid [8852] ×2 +121.35sINFOros2-12process started with pid [8854] ×2 +121.35sINFOros2-13process started with pid [8855] ×2 +121.35sINFOros2-14process started with pid [8856] ×2 +121.35sINFOros2-15process started with pid [8857] ×2 +121.35sINFOros2-16process started with pid [8858] ×2 +121.35sINFOros2-17process started with pid [8859] ×2 +121.35sINFOros2-18process started with pid [8860] ×2 +121.35sINFOros2-19process started with pid [8865] ×2 +121.35sINFOros2-20process started with pid [8866] ×2 +121.35sINFOros2-21process started with pid [8868] ×2 +121.35sINFOros2-22process started with pid [8879] ×2 +121.37sINFOmap_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. +121.37sINFOmap_serverCreating +121.38sINFOcontroller_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. +121.40sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +121.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169885 ms (missed cycles : 5).[0m ×2 +121.43sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.43sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +121.49sINFOcontroller_serverCreating controller server +121.51sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +121.52sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +121.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.52sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +121.53sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +121.55sINFOlifecycle_manager_localizationCreating +121.57sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +121.58sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +121.58sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +121.58sINFOmap_serverConfiguring +121.58sINFOlocal_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. +121.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.59sINFOlocal_costmap.local_costmapCreating Costmap +121.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +121.63sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +121.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +121.66sINFOcontroller_managerReceived robot description from topic. +121.66sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +121.67sINFOrobot_state_publisherRobot initialized +121.68sINFOsmoother_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. +121.71sINFOsmoother_serverCreating smoother server +121.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +121.71sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +121.72sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +121.72sINFOamclConfiguring +121.73sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS +121.73sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +121.74sINFOmap_serverActivating +121.74sINFOmap_serverCreating bond (map_server) to lifecycle manager. +121.75sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS +121.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +121.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +121.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +121.79sINFOvideo_server2026/09/18 13:26:41 INF MediaMTX v1.20.1, linux, amd64 ×2 +121.79sINFOvideo_server2026/09/18 13:26:41 INF configuration loaded from /tmp/moveit-webrtc-4z48vu61/mediamtx.yml ×2 +121.79sINFOvideo_server2026/09/18 13:26:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +121.79sINFOvideo_server2026/09/18 13:26:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +121.81sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.83sINFOplanner_serverCreating +121.84sINFOlifecycle_manager_localizationServer map_server connected with bond. +121.84sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +121.84sINFOamclActivating +121.84sINFOamclSubscribed to initial_pose_topic: /initialpose +121.85sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +121.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +121.87sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.87sINFOglobal_costmap.global_costmapCreating Costmap +121.88sINFOamclSubscribed to map_topic: /map +121.88sINFOamclSubscribed to scan_topic: /scan_merged +121.89sINFOamclCreated reinitialize_global_localization service +121.89sINFOamclCreated request_nomotion_update service +121.89sINFOamclA new map was received +121.89sINFOamclInitializing particle filter instance +121.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +121.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +121.93sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. +121.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +121.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +121.99sINFObt_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. +122.02sINFObt_navigatorCreating +122.04sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.501885 seconds +122.04sINFOmove_groupLoaded robot model in 0.501885 seconds[0m ×2 +122.04sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +122.04sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +122.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +122.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +122.06sWARNlaser_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. +122.08sINFOwaypoint_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. +122.08sINFOwaypoint_followerCreating +122.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +122.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +122.15sWARNlaser_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. +122.15sINFOvelocity_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. +122.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +122.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +122.20sINFOlifecycle_manager_navigationCreating +122.23sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +122.26sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +122.26sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +122.26sINFOcontroller_serverConfiguring controller interface +122.26sINFOcontroller_servergetting progress checker plugins.. +122.26sINFOcontroller_servergetting goal checker plugins.. +122.26sINFOcontroller_serverController frequency set to 20.0000Hz +122.26sINFOlocal_costmap.local_costmapConfiguring +122.27sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +122.28sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +122.31sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +122.31sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +122.31sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +122.35sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +122.35sINFOcontroller_serverController Server has progress_checker progress checkers available. +122.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +122.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +122.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457903 ms (missed cycles : 3). +122.37sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +122.38sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +122.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457903 ms (missed cycles : 3).[0m ×2 +122.38sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +122.38sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +122.39sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +122.39sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +122.39sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +122.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +122.39sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +122.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +122.39sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +122.39sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +122.39sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +122.39sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +122.39sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +122.39sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +122.39sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +122.40sINFOcontroller_serverOptimizer reset ×2 +122.40sINFOcontroller_serverController Server has FollowPath controllers available. +122.41sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +122.41sINFOsmoother_serverConfiguring smoother server +122.43sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +122.43sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +122.46sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +122.46sINFOplanner_serverConfiguring +122.46sINFOglobal_costmap.global_costmapConfiguring +122.46sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... +122.48sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +122.48sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +122.48sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +122.48sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +122.48sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +122.53sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +122.53sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +122.53sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +122.57sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +122.57sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +122.57sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +122.58sINFOplanner_serverPlanner Server has GridBased planners available. +122.61sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +122.61sINFObehavior_serverConfiguring +122.62sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +122.62sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +122.63sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +122.63sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +122.64sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +122.65sINFObehavior_serverConfiguring spin +122.67sINFObehavior_serverConfiguring backup +122.68sINFObehavior_serverConfiguring drive_on_heading +122.68sINFObehavior_serverConfiguring assisted_teleop +122.70sINFObehavior_serverConfiguring wait +122.71sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +122.71sINFObt_navigatorConfiguring +122.73sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +122.73sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +122.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.74sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.75sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +122.75sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application +122.79sINFOamclParticle filter initialization completed +122.79sINFOamclInitializing particles from estimated pose and covariance +122.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +122.86sINFOlifecycle_manager_localizationServer amcl connected with bond. +122.86sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +122.86sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +122.89sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +122.90sINFOamclThe bond connection to the lifecycle manager is now fully formed +122.92sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +122.92sINFOwaypoint_followerConfiguring +122.94sINFOwaypoint_manager_nodeLoaded robot model in 0.43635 seconds[0m ×2 +122.95sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +122.95sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +122.95sINFOvelocity_smootherConfiguring velocity smoother +122.95sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +122.95sINFOcontroller_serverActivating +122.95sINFOlocal_costmap.local_costmapActivating +122.95sINFOlocal_costmap.local_costmapChecking transform +122.95sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×10 +123.06sINFOmove_group[2026-09-18 13:26:43.171] [moveit_pro_license] [info] ×2 +123.16sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +123.16sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +123.33sWARNwaypoint_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. +123.33sWARNwaypoint_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. +123.34sWARNwaypoint_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. +123.34sWARNwaypoint_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. +123.35sWARNwaypoint_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. +123.35sWARNwaypoint_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. +123.35sWARNwaypoint_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. +123.35sWARNwaypoint_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. +123.36sWARNwaypoint_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. +123.36sWARNwaypoint_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. +123.36sWARNwaypoint_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. +123.36sWARNwaypoint_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. +123.37sWARNwaypoint_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. +123.37sWARNwaypoint_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. +123.37sWARNwaypoint_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. +123.37sWARNwaypoint_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. +123.38sWARNwaypoint_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. +123.38sWARNwaypoint_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. +123.38sWARNwaypoint_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. +123.38sWARNwaypoint_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. +123.39sWARNwaypoint_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. +123.39sWARNwaypoint_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. +123.39sWARNwaypoint_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. +123.39sWARNwaypoint_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. +123.40sWARNwaypoint_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. +123.40sWARNwaypoint_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. +123.40sWARNwaypoint_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. +123.40sWARNwaypoint_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. +123.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771976 ms (missed cycles : 2). +123.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771976 ms (missed cycles : 2).[0m ×2 +123.57sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +123.57sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +123.57sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +123.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +123.57sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +123.58sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +123.58sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +123.58sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +123.58sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +123.58sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +123.58sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +123.67sINFOwaypoint_manager_node[2026-09-18 13:26:43.777] [moveit_pro_license] [info] ×2 +123.98sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +123.98sINFOcontroller_managerActivating component 'ur_mujoco_control'. +123.98sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +123.98sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +124.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +124.21sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +124.23sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +124.23sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +124.29sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +124.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +124.30sINFOplatform_velocity_controller_nav2configure successful +124.46sINFOobjective_server_node[2026-09-18 13:26:44.569] [moveit_pro_license] [info] ×2 +124.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820680 ms (missed cycles : 2). +124.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820680 ms (missed cycles : 2).[0m ×2 +124.53sINFOobjective_server_nodeLoaded robot model in 0.033521 seconds[0m ×2 +124.60sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +124.60sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +124.63sINFOros2-17process has finished cleanly [pid 8859] ×2 +124.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +124.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +124.76sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +124.76sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +124.95sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +124.96sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +125.12sINFOros2_control_node[2026-09-18 13:26:45.226] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +125.12sINFOros2_control_node[2026-09-18 13:26:45.229] [info] Controller state will be published at 10 Hz. ×2 +125.12sINFOros2_control_node[2026-09-18 13:26:45.230] [info] VelocityForceController 'on_configure' succeeded. ×2 +125.24sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +125.26sINFOmove_groupMoveGroup debug mode is ON +125.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +125.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +125.44sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ******************************************************** +125.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +125.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +125.49sINFOros2-20process has finished cleanly [pid 8866] ×2 +125.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213604 ms (missed cycles : 3). +125.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213604 ms (missed cycles : 3).[0m ×2 +125.56sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +125.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +125.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +125.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +125.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +125.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +125.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +125.63sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 +125.65sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +125.67sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +125.67sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +125.79sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.79sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +125.82sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' +125.82sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' +125.82sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +125.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.82sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' +125.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +125.83sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' +125.83sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' +125.83sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' +125.83sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' +125.84sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +125.84sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +125.84sINFOstreaming_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) +125.84sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +125.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +125.85sINFOcontroller_managerLoading controller 'platform_velocity_controller' +125.85sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +125.85sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +125.87sINFOros2-18process has finished cleanly [pid 8860] ×2 +125.91sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +125.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +125.91sINFOplatform_velocity_controllerconfigure successful +125.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +125.92sINFOcontroller_managerSuccessfully switched controllers! ×20 +125.92sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +126.04sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +126.04sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +126.06sINFOstreaming_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) +126.06sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so +126.19sINFOcomponent_container_mtLoaded robot model in 0.353278 seconds[0m ×2 +126.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +126.21sINFOcontroller_managerLoading controller 'velocity_force_controller' +126.22sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +126.22sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +126.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 +126.28sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +126.28sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +126.28sINFOros2-15process has finished cleanly [pid 8857] ×2 +126.29sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.29sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> +126.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896610 ms (missed cycles : 2). +126.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896610 ms (missed cycles : 2).[0m ×2 +126.69sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789738005.180 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.71sWARNplanning_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. +126.72sWARNplanning_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. +126.72sWARNplanning_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. +126.72sWARNplanning_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. +126.72sWARNplanning_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. +126.72sWARNplanning_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. +126.72sWARNplanning_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. +126.72sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.73sWARNplanning_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. +126.74sINFOros2_control_node[2026-09-18 13:26:46.852] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +126.74sINFOros2_control_node[2026-09-18 13:26:46.854] [info] Controller state will be published at 10 Hz. ×2 +126.74sINFOros2_control_node[2026-09-18 13:26:46.855] [info] VelocityForceController 'on_configure' succeeded. ×2 +126.91sINFOcomponent_container_mt[2026-09-18 13:26:47.020] [moveit_pro_license] [info] ×2 +127.06sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +127.06sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +127.06sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +127.06sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +127.08sINFOros2-19process has finished cleanly [pid 8865] ×2 +127.11sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +127.12sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +127.12sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +127.13sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +127.50sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +127.50sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +127.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +127.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +127.50sINFOros2-13process has finished cleanly [pid 8855] ×2 +127.55sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +127.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +127.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +127.56sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +127.57sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +127.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085145 ms (missed cycles : 3). +127.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085145 ms (missed cycles : 3).[0m ×2 +127.89sINFOros2-14process has finished cleanly [pid 8856] ×2 +127.96sINFOlocal_costmap.local_costmapstart +128.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +128.00sINFOcontroller_managerLoading controller 'vacuum_gripper' +128.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +128.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +128.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +128.05sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +128.06sWARNcontroller_serverParameter controller_server.verbose not found +128.06sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +128.06sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +128.06sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +128.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +128.07sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +128.14sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 4.772ms +128.16sINFOlifecycle_manager_navigationServer controller_server connected with bond. +128.16sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +128.16sINFOsmoother_serverActivating +128.16sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +128.27sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +128.27sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +128.27sINFOplanner_serverActivating +128.27sINFOglobal_costmap.global_costmapActivating +128.27sINFOglobal_costmap.global_costmapChecking transform +128.27sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789738008.339954, but only time 1789738008.741088 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] +128.36sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +128.36sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +128.39sINFOros2-16process has finished cleanly [pid 8858] ×2 +128.43sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +128.43sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +128.49sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +128.49sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +128.77sINFOglobal_costmap.global_costmapstart +128.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062434 ms (missed cycles : 3). +128.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062434 ms (missed cycles : 3).[0m ×2 +129.33sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789738008.730 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +129.56sINFOros2_control_node[2026-09-18 13:26:49.673] [info] Controller state will be published at 20 Hz. ×2 +129.56sINFOros2_control_node[2026-09-18 13:26:49.674] [info] JointVelocityController 'on_configure' succeeded. ×2 +129.82sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +129.82sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +129.91sINFOros2-22process has finished cleanly [pid 8879] ×2 +129.92sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +129.92sINFOcontroller_managerLoading controller 'joint_velocity_controller' +129.92sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +129.92sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +129.93sINFOlifecycle_manager_navigationServer planner_server connected with bond. +129.93sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +129.93sINFObehavior_serverActivating +129.93sINFObehavior_serverActivating spin +129.93sINFObehavior_serverActivating backup +129.93sINFObehavior_serverActivating drive_on_heading +129.93sINFObehavior_serverActivating assisted_teleop +129.93sINFObehavior_serverActivating wait +129.93sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +129.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775265 ms (missed cycles : 2). +129.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775265 ms (missed cycles : 2).[0m ×2 +129.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +129.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +130.04sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +130.04sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +130.04sINFObt_navigatorActivating +130.11sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +130.21sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +130.21sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +130.21sINFOwaypoint_followerActivating +130.21sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +130.32sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +130.32sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +130.32sINFOvelocity_smootherActivating +130.32sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +130.36sINFOros2_control_node[2026-09-18 13:26:50.470] [info] Controller state will be published at 20 Hz. ×2 +130.36sINFOros2_control_node[2026-09-18 13:26:50.471] [info] JointVelocityController 'on_configure' succeeded. ×2 +130.42sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +130.42sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +130.42sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +130.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +130.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +130.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 +130.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_a80uudh_ --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_qrmrt8ag --params-file /tmp/launch_params_iq5p_mj8 [0m ×2 +130.72sINFOros2-21process has finished cleanly [pid 8868] ×2 +130.73sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +130.73sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +130.73sINFOforce_torque_sensor_broadcasterconfigure successful +130.74sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +130.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +130.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +130.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +130.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +130.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 +131.05sINFOros2-12process has finished cleanly [pid 8854] ×2 +131.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848170 ms (missed cycles : 5). +131.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.848170 ms (missed cycles : 5).[0m ×2 +132.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253411 ms (missed cycles : 2). +132.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253411 ms (missed cycles : 2).[0m ×2 +133.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). +133.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 +134.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). +134.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 +135.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). +135.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 +135.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +136.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 +136.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 +136.03sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 +136.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 +136.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). +136.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 +136.58sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +136.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +136.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 +137.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +137.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 +137.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). +137.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 +137.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +137.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +137.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +137.99sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. +138.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 +138.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" +138.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +138.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +138.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] +138.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] +138.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). +138.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	21 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.97sINFOobjective_server_nodecaller: ×10 + 1.97sINFOobjective_server_nodetype: 0 ×10 + 1.97sINFOobjective_server_nodename: "" ×10 + 1.97sINFOobjective_server_nodeinstance_id: "" ×10 + 1.97sINFOobjective_server_node ×10 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.01sINFOmove_groupClearing octomap...[0m ×4 + 2.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.01sINFOmove_groupOctomap cleared.[0m ×4 + 2.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 312 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224744 ms (missed cycles : 4).[0m ×2 + 0.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 2.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.78sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.78sINFOobjective_server_nodecaller: ×10 + 2.78sINFOobjective_server_nodetype: 0 ×10 + 2.78sINFOobjective_server_nodename: "" ×10 + 2.78sINFOobjective_server_nodeinstance_id: "" ×10 + 2.78sINFOobjective_server_node ×10 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.82sINFOmove_groupClearing octomap...[0m ×4 + 2.82sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×4 + 2.82sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_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 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 5.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.34sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.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 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299314 ms (missed cycles : 2).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.97sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.97sINFOobjective_server_nodecaller: ×10 + 1.97sINFOobjective_server_nodetype: 0 ×10 + 1.97sINFOobjective_server_nodename: "" ×10 + 1.97sINFOobjective_server_nodeinstance_id: "" ×10 + 1.97sINFOobjective_server_node ×10 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.01sINFOmove_groupClearing octomap...[0m ×4 + 2.01sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.01sINFOmove_groupOctomap cleared.[0m ×4 + 2.01sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.02sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.15sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 4.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.54sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 5.65sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495434 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495434 ms (missed cycles : 3).[0m ×2

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

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 319 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106835 ms (missed cycles : 2).[0m ×2 + 0.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.21sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.73sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.73sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.73sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.73sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.73sINFOobjective_server_nodecaller: ×10 + 0.73sINFOobjective_server_nodetype: 0 ×10 + 0.73sINFOobjective_server_nodename: "" ×10 + 0.73sINFOobjective_server_nodeinstance_id: "" ×10 + 0.73sINFOobjective_server_node ×10 + 0.77sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789738016.13917017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 0.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 0.77sINFOmove_groupClearing octomap...[0m ×4 + 0.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 0.77sINFOmove_groupOctomap cleared.[0m ×4 + 0.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789738016.14934850 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924763 ms (missed cycles : 3).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.32sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789738016.72772169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789738016.73784018 seconds ×3 + 1.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.91sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789738017.31518316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789738017.46575522 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095380 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789738018.05643559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_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 + 2.71sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789738018.12660480 seconds ×3 + 3.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789738018.70305085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400877 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568880 ms (missed cycles : 2).[0m ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715204 ms (missed cycles : 2).[0m ×2